80 results about "Remotely operated underwater vehicle" patented technology

A method, system and apparatus for viewing and imaging an underwater structure from a submersible platform, navigating along the structure and constructing a map of the structure in the forms of a photo-mosaic and a 3-D structural map. The system can include a submersible platform, at least two cameras coupled to the submersible platform, and stereovision matching logic programmed to simulate a frontal view of a target underwater structure from a fixed distance based upon an oblique view of the target underwater structure obtained by the cameras from a variable distance. The cameras can be forward or side mounted to the submersible platform and can include optical cameras, acoustical cameras or both. Preferably, the submersible platform can be a remotely operated vehicle (ROV), or an autonomous underwater vehicle (AUV). Finally, the system further can include absolute positioning sensors.

A system for communicating with a remotely operated underwater vehicle (ROV) includes a winged ROV coupled to a surface buoy by a tether. A controller on a support ship is coupled to the tether and the control signals are then transmitted through the tether to the ROV. Feedback and sensor signals are transmitted from the ROV through the wireless transceivers to the controller. The wings of the ROV produce negative lift which is greater than the buoyant force of the ROV and the vertical tension forces on the tether.

The invention discloses a ship fouling monitoring and removal device based on cavitation technology. The device comprises a controller and a remote-operated vehicle module, wherein a cleaning module and a monitoring module are arranged on the remote-operated vehicle module; the controller controls the remote-operated vehicle module, the cleaning module and the monitoring module to work; the remote-operated vehicle module comprises a remote-operated vehicle, a crawler walking mechanism positioned on the remote-operated vehicle, an electromagnetic adsorption mechanism located on the remote-operated vehicle, and a permanent magnet located on the crawler walking mechanism; the cleaning module comprises a cavitation jet cleaning mechanism and an ultrasonic cavitation jet cleaning mechanism, the cavitation jet cleaning mechanism comprises a water supply tank, a high pressure water pump and a cavitation jet cleaning disc, and the cavitation jet cleaning disc is provided with a rotatable cavitation jet nozzle; and the ultrasonic cavitation cleaning mechanism comprises an ultrasonic generator and a transducer connected to the ultrasonic generator. The monitoring and removal device can remove attachments at the bottom of a ship under the condition that the ship does not need to dock, and does not affect the sailing schedule of the ship, and the fouling cleaning cost is low.

A system for communicating with a remotely operated underwater vehicle (ROV) includes an ROV coupled to a surface buoy by a tether. A controller is coupled to a first wireless transceiver and a second wireless transceiver is attached to the surface buoy. Control signals are transmitted from the controller through the first wireless transceiver the second wireless transceiver on the surface buoy. The control signals are then transmitted through the tether to the ROV. Feedback and sensor signals are transmitted from the ROV through the wireless transceivers to the controller.

A remotely operated underwater vehicle for cleaning surfaces submerged in water, the underwater vehicle having a first side, a second side, a propulsion means, a plurality of trimming means, a first buoyancy means attached to the first side and a second buoyancy means attached to the second side. Elements of the plurality of trimming means are arranged on opposite sides of the centre of gravity of the vehicle and at least one of the plurality of trimming means has a movable mass and a displacement region into which the movable mass can move. The centre of gravity of the vehicle is automatically shifted when the vehicle is accelerating or changes orientation, in which the first buoyancy means provides more buoyancy than the second buoyancy means such that the centre of buoyancy is located above the centre of gravity of the vehicle irrespective of the orientation of the vehicle.

A distributed function control module adapted for use in a modular blowout preventer (BOP) stack for use subsea comprises a housing adapted to be manipulated by a remotely operated vehicle (ROV) with a stab portion adapted to be received into a BOP stack control module receiver. Control electronics, adapted to control a predetermined function with respect to the BOP stack, are disposed within the housing and connected to one or more controllable devices by a wet mateable connector interface. It is emphasized that this abstract is provided to comply with the rules requiring an abstract which will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope of meaning of the claims.

The invention discloses an inland river salvage container. The inland river salvage container is mainly formed by integrating a hydraulic plate-type crane and an ROV system (light underwater operation type unmanned remote-operated vehicle) in a standard container, wherein the salvage container is divided into two parts, namely a hoisting and placing region and a storage control region; the hydraulic plate-type crane is positioned in the hosting and placing region; a hoisting reel (12) of the crane and an umbilical reel (9) of the ROV system are together arranged in a crane pedestal (11); a revolving mechanism (1) is embedded in an inner wall on the upper part of the container; a cable line is arranged in an umbilical cord (39) of the ROV system to supply power for the underwater operation; and an ROV body (24) and an ROV underframe (28) are positioned at the storage control region of the container. Because the operation of storage and use of all equipment of the entire salvage device is integrated on the standard container, the salvage container can be hoisted and transported as a whole; and thus the separate transportation and insertion of the equipment are reduced, the using cost is low, the long-distance transportation is convenient and fast and the real-time requirement for the salvage of goods can be met.

The invention relates to a drilling riser adapter (11) connecting member possessing a submarine operation. A drilling riser adapter can be connected with a riser (17) changeable to release the riser from a subsea wellhead assembly. The adapter has a hydraulically actuated engagement assembly (41) for selectively engaging and disengaging a lower end of the marine riser (17). The adapter also includes a control panel (141) communicatively coupled to the engagement assembly (41) for actuating the engagement assembly (41) to engage and disengage the lower end of the marine riser (17). The adapter includes a hydraulic fluid pressure receptacle (135) on the control panel (141) for engagement by a remotely operated vehicle (ROV) to supply hydraulic fluid pressure to the engagement assembly (41). The adapter may be actuated subsea to release a first riser from the wellhead assembly, and connect to a second riser.

The invention provides a remotely-operated submersible and a remotely-operated submersible system and relates to the technical field of submersibles. The remotely-operated submersible comprises a submersible body and a water surface floater. The water surface floater comprises a wired communication interface and a wireless communication interface, wherein the wired communication interface is connected with the submersible body through a cable; the wireless communication interface is used for being connected with a wireless network and is in communication with a far-end control terminal through the wireless network so that the water surface floater can transmit signals between the submersible body and the control terminal, and it can be achieved that the control terminal wirelessly controls the submersible body. The submersible body collects data according to control signals sent by the control terminal and sends the collected data to the control terminal through the water surface floater. According to the remotely-operated submersible and the remotely-operated submersible system, the water surface floater serves as a signal relay, the signal transmission distance is enlarged, and thus the working range of the remotely-operated submersible is expanded.

The invention relates to underwater robot technique, especially providing a hydraulic-shears, which is formed by a fixing anvil pin, a shearer, a movable shearing cutter, a drawing straight pin, a cylinder, and a piston rod. Wherein, said shearer is in U-shape whose one side is rectangle; the shearer has a horizontal groove guide rail and a cylinder hole at vertical direction; the fixing anvil pin through said cylinder hole is connected to the U-shape bottom edge; another side of U-shape is in post-structure connected with said cylinder; the inner part of post-structure is in chamber structure while a square hole is near the cylinder; the cutter has a groove guide rail through said horizontal direction mounted inside the chamber, to be through said square hole and connected with one end of piston rod via drawing straight pin; and the open of said U-shape structure of said shearer contains steel wire. The invention has simple structure, lower machining precision, non-cutting left of steel wire, smaller size, lighter weight, application of easily changing vulnerable parts, reliable operation and the application of operation unmanned remote-control diving apparatus.

The invention discloses an underwater equipment mounting and recycling system and method. The underwater equipment mounting and recycling system comprises a ship main body, wherein a crane is arranged on the ship main body. The system further comprises a mounting and recycling device, a connecting and converting device and two unmanned remote control submersibles, wherein the mounting and recycling device is used for mounting and recycling underwater equipment; the connecting and converting device is used for connecting the crane with the mounting and recycling device; and the two unmanned remote control submersibles are used for underwater construction monitoring. Te ship main body is also provided with a control device and a positioning device, wherein the control device is used for controlling the crane and the unmanned remote control submersibles; and the positioning device is used for positioning the position of a ship. As the underwater equipment is mounted and recycled through adoptions of the multi-functional ship main body and the unmanned remote control submersibles, the underwater operation cost is greatly saved; and moreover, as the two unmanned remote control submersibles have the advantages of high mounting accuracy and short operation period, the underwater operation flexibility is enhanced.

The invention provides a portable underwater aerial photography remote operated vehicle and a control method thereof. The remote operated vehicle comprises a main cylinder, a direction adjusting mechanism, a propelling mechanism, a control module and an image acquisition module. The control module, the image acquisition module and the direction adjusting mechanism are arranged at the front end of the main cylinder; the propelling mechanism is arranged at the rear end of the main cylinder; a floating block is arranged in the main cylinder, so that the main cylinder is kept in a perpendicular state naturally in water; and the image acquisition module, the direction adjusting mechanism and the propelling mechanism are all connected with the control module. By the adoption of the portable underwater aerial photography remote operated vehicle, equipment such as a star observation navigation element is not needed and cost is low; and the whole shape is cylindrical and the diameter is small, so that the remote operated vehicle is convenient to carry during a travel. When the remote operated vehicle is in water, the gravity center is on the head, the remote operated vehicle can be kept in a perpendicular state naturally in water, the difference value neutral to buoyancy is used, power needed for the sinking movement of the remote operated vehicle is provided, and electric power can be saved.

A system and method for remote inspection of a liquid filled tank or structure is disclosed. In the system, a remotely operated underwater vehicle is deployed in a liquid filled tank which includes pre-installed location identifier tags. The remotely operated underwater vehicle includes at least one camera for providing a video feed to an operator. The remotely operated underwater vehicle is piloted through tanks to be inspected, scanning tags and transmitting video and sensor data to the operator via operator's computer. The operator inspects and records observations of the video and sensor data to the system. Resulting data is recorded and reports generated.

The invention relates to a carrying device for underwater movable platform of a remote control submersible, which is arranged in a non-pressure resistant structure at the top of an underwater movable platform. The underwater movable platform carrying device is characterized by comprising a traction winch and a guiding hoistable platform, wherein the traction winch is connected with the guiding hoistable platform through a traction steel cable and a fixed pulley block; a neutral cable retractable winch for receiving and releasing a neutral cable of the remote control submersible is arranged above the traction winch; a guiding positioning block of the guiding hoistable platform guides and positions the remote control submersible; and a capture locking mechanism of the guiding hoistable platform locks the remote control submersible. The underwater movable platform carrying device has the advantages of reducing the space occupation of the underwater movable platform, lightening the carrying weight of the underwater movable platform, along with simple and reliable structure, light weight, simple arrangement and recovery operation and recovery and high efficiency, and is suitable for carrying the remote control submersible by utilizing top space through the underwater movable platform and for arranging and recovering the remote control submersible from the back of the underwater movable platform.

The invention relates to an unmanned remote-control submersible system based on a movement camera. The movement camera, an underwater motor propeller module and a sealed cabin are mounted in a submersible platform, a robot movement controller, a wireless relay and an underwater power line carrier module are mounted in the sealed cabin, the underwater motor propeller module and the robot movement controller are connected through a communication line, the movement camera and the robot movement controller are connected to the power line carrier module through the wireless relay, and the underwater power line carrier module is connected with an overwater floating body through a network connecting line. The movement camera is directly used as a camera of an unmanned remote-control submersible, so that photographing effect is much better than that of conventional underwater cameras. Wireless signals of the movement camera are transmitted to water surface through network equipment like the wireless relay and emitted through an overwater high-power router, real-time image transmission and control of the movement camera are completed through cellphone app that the movement camera has, and sharing and diffusion of underwater photographed content are completed through functions of community and the like of the movement camera.

The invention discloses an underwater dry type carrying device for a large-scale remote control submersible. The underwater dry type carrying device is arranged inside a large-scale underwater vehicle, and comprises an ROV (Remotely-Operated Vehicle) carrying cabin, a load replacement water cabin and a control cabin. The carrying cabin is internally provided with an ROV and a control cable retracting system; a load replacement pipeline system is arranged inside the carrying cabin and the load replacement water cabin; water is pumped between two cabins by using a load replacement water pump; a staff access channel is arranged between the control cabin and the carrying cabin; and a watertight hatch cover is arranged at the bottom of the carrying cabin and is opened and closed through a hatch opening and closing mechanism. The carrying mode of 'carrying in the dry cabins and operating in fresh water' provided by the invention is good for maintainability and security of large-scale ROV underwater operation. In a protection process, the horizontal gravity position of a hull of an underwater vehicle almost does not change, so as to reduce the influence of an operating process on the hull.

The invention discloses a marine hyperspectral remote sensing image object identification method, and relates to the technical field of marine hyperspectral remote sensing imaging. The marine hyperspectral remote sensing image object identification method comprises the following proving steps: S1, acquiring an image, bringing hyperspectral remote sensing into the ocean through a remotely operatedvehicle, and capturing images of ocean water color and water temperature through the hyperspectral remote sensing; S2, preprocessing the images: remotely acquiring data information through data transmission equipment, conducting radiation correction on the hyperspectral remote sensing, wherein the radiation correction comprises calibrating a sensor. The marine hyperspectral remote sensing image object identification method solves the problems of worse image object identification capability and lower efficiency of marine hyperspectral remote sensing caused by the excessively complicated identification process of the marine hyperspectral remote sensing image object identification method, and the image object identification capability of the marine hyperspectral remote sensing is strengthenedthrough an MAIS imaging spectrometer and the image processing technique.

The invention relates to a remote operated vehicle interface with shear element. A remote operated vehicle (ROV) interface for transferring torque from an ROV drive tool 84 to a shaft of a subsea well device 27. The interface comprising a permanent module 13 coupled to the shaft 27, a retrievable module with a drive part 77 and a driven part 43 coupled together by a shear element for rotation in unison. The driven member is releasably coupled to the permanent module. The drive member is engageable with the drive tool to cause the drive member, the driven member and the permanent module to rotate the shaft. There is an ROV retrieval profile on the retrievable module to enable the drive and driven members to be retrievable together by the ROV. The second invention is an ROV interface with a housing, a drive cavity, a pod cavity, and pod body, a spring biased retainer and a shear element.

The invention discloses an electric power and communication data transmission system and method for a remote operated vehicle. The system comprises a voltage rise direct current power supply device and a first electric power line communication device which are arranged in a shore device; a voltage reduction conversion device and a second electric power line communication device which are arranged in the remote operated vehicle; and coaxial cables which are used for connecting the shore device and the remote operated vehicle. According to the system and method, the defects that the existing underwater cables are heavy, the volume is large, and the use is convenient are overcome; and through adoption of the mode that the electric power signal transmission and communication signal transmission share the coaxial cables, only a group of cables are used, and the real time data transmission of underwater high-definition videos and real time electric power supply of an underwater ROV (Remote Operated Vehicle) can be realized. In practical application, the coaxial cables provided by the invention have good field effects due to small diameter, light weight and convenient carrying and storage.

The invention discloses an underwater pipe polishing device for cleaning underwater seabed pipe protective coating layers. The underwater pipe polishing device comprises three parts of an equipment frame structure, a pipe clamping mechanism and a walk pipe brushing mechanism. The underwater auxiliary positioning is firstly performed on the underwater pipe polishing device through a ROV (remotely operated underwater vehicle), so that the equipment frame structure and target pipes are primarily positioned; then, the pipes are clamped by the pipe clamping mechanism, so that the device and the target pipes are totally positioned; the walk pipe brushing mechanism drives a steel wire brush roller to peripherally move; and finally, the steel wire brush roller is rotated to clean coating layers onthe surfaces of the pipes. The underwater pipe polishing device can be fixed on the pipes in multiple positions, and meanwhile, can realize 180-degree rotation through gear transmission, so that thecleaning efficiency of the coating layers and rust on the surfaces of the pipes is improved, and the engineering progress is accelerated.

The application provides an ROV (remotely operated underwater vehicle) which comprises a body, a power unit and a beacon unit, wherein the body is provided with a camera shooting unit and a control unit; the power unit is arranged on the body; the beacon unit is worn on some part of a user body; the beacon unit is configured to emit a plurality of optical control signals with different degrees ofbrightness; the control unit is configured to control the power unit to make a corresponding response according to the optical control signals acquired by the camera shooting unit, so as to regulate the movement posture of the body. Additionally, the application also provides a control method of the ROV. According to the ROV and the control method thereof, the corresponding movement can be performed by receiving the optical control signals transmitted externally, so that the functions of spot hover, automatic tracking, floating upward, diving, overlooking, looking upwards, left-handed rotation, right-handed rotation, advancing, retreating and the like are achieved, and the phenomenon of winding when in control with a cable is avoided.

A method of locating an electrical defect in an underwater electrical distribution modular system including a power line along which are disposed: a line head module including an isolator; a line termination module; optionally, one or more intermediate modules; a set of electrical connectors linkable under the water. The method includes, after opening the isolator of the head module following detection of an electrical defect downstream on the line: disconnection, by a remotely operated underwater vehicle, of a male connector and female connector ensuring electrical connection between two underwater modules; fitting a dielectric stopper on the male connector disconnected from the female connector by a remotely operated underwater vehicle; closing the isolator of the head module; and verification of a detection of a defect on the line downstream of the isolator of the head module.

The invention relates to a method for designing an observation type unmanned remote control diving instrument. The method includes the following steps: (1) performing type selection and designing on all the parts according to the functional demands of the observation type unmanned remote control diving instrument; (2) completing three-dimensional modeling and virtual assembly of the functional parts on the basis of Solidworks software; (3) designing a preliminary shape according the functional demands; (4) calculating the structural strength performance, calculating a body basic parameter if the structural strength performance satisfies the demand, and performing redesigning and type selection if the structural strength performance does not satisfy the demand; (5) determining if the statics and the dynamics reach a balanced state or not according to the calculated body basic parameter, performing type approval if so, and adjusting spatial layout and product type selection if not; and (6) using a control system to perform water pool experiment statics, dynamics, self-propulsion operability test after type approval. The advantages of the invention are that the method can design the observation type unmanned remote control diving instrument which is high in structural stability, is reasonable in structure layout, is excellent in sealing performance and heat dissipation performance.

The invention discloses a fault self-rescue system for a remotely operated underwater vehicle (ROV). The fault self-rescue system for the ROV comprises a self-rescue device mounted at an ROV body, a detection system and a control system, wherein the self-rescue device comprises an inflation device, a switch device and an air bag; the switch device is arranged near the opening of the inflation device; the air bag is connected to the switch device; the detection system and the switch device are in signal connection with the control system; the detection system sends a fault signal to the controlsystem after the detection system detects that the ROV body is faulty; the control system controls the switch device to operate after receiving the fault signal; and the air bag communicates with theinflation device when the switch device operates. The fault self-rescue system for the ROV adopts an intelligent self-rescue method, and does not need manual operation, thereby improving the self-rescue real-time performance of the ROV and reducing the loss of an enterprise.

The invention relates to a frame module of a ROV (remote operated vehicle). The frame module is characterized by comprising a pair of base frames and connecting buckles, wherein the base frames are arranged symmetrically and connected through the connecting buckles, and a compressive cabin fixing frame is formed by the connecting buckles between the pair of base frames. According to the frame module, the connecting buckles are arranged between the base frames, an arc structure is arranged on one side edge of each of front brackets and rear brackets of the base frames, the arc structures are matched with the connecting buckles to form the compressive cabin fixing frame, and accordingly, fixing materials and installation space of a compressive cabin are saved, and the space structure is more reasonable; lightweight design is adopted on the base frames arranged symmetrically, and on the basis that water pressure intensity is guaranteed, the structure is compact and the spatial layout is reasonable; the overall mass can be reduced while equipment installation requirement can be met.

The invention discloses an optical fiber cable laying process protection device of an optical fiber remote control submersible and a working method thereof. The optical fiber cable laying process protection device comprises a relay module, a fiber remote control underwater robot, and a cable guiding mechanism. The fiber remote control underwater robot is connected with the relay module through a hook device; and the cable guiding mechanism is arranged on the relay module, and the cable guiding mechanism is connected with the relay module and the fiber remote control underwater robot. Comparedwith the prior art, the u optical fiber cable laying process protection device has the following beneficial effects: firstly, in the process that the relay module 6 carries the underwater robot to dive, the optical fiber cable is protected by a tubular channel formed by a hose and a horn mouth and is prevented from being influenced by an external complex environment; and secondly, an 8-shaped coiling method and a circle-by-circle pull-off separation working method are adopted, so that the hose cannot be twisted and knotted in the pull-off process, and the drawing of the micro optical fiber cable in the hose cannot be influenced.

The invention discloses an underwater pipeline detecting and tracking device with an autonomous remotely-operated vehicle. The underwater pipeline detecting and tracking device comprises a lower computer and an upper computer, the lower computer is arranged below the water surface, the upper computer is arranged on a water surface mother ship; the lower computer comprises a sensor module, an optical vision module, an embedded controller and an underwater optical transceiver, wherein the sensor module and the optical vision module are correspondingly connected with the signal input end of the embedded controller, and the signal output end of the embedded controller is connected with the signal input end of the underwater optical transceiver; the upper computer comprises an overwater opticaltransceiver, a water surface monitoring module and a hand controller, the hand controller is in circuit connection with the water surface monitoring module, the water surface monitoring module is incircuit connection with the overwater optical transceiver, and the underwater optical transceiver is connected with the overwater optical transceiver through an optical fiber. According to the device,the autonomous remotely-operated vehicle can achieve real-time image transmission, the water surface mother ship can monitor the underwater environment in real time, so that the safety of the complexunderwater operation condition is ensured, and the detecting and tracking task of an underwater pipeline is completed.