Hybrid-Driven Underwater Robot for Mooring Chain Inspection
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Solution Overview
Problem
Current methods for inspecting and maintaining mooring chains in marine engineering equipment are inefficient and pose safety risks, particularly for floating oil & gas production platforms, due to limitations in visual checks, non-destructive testing, and the high costs and safety concerns associated with remotely operated vehicles (ROVs).
Innovation Solution
A hybrid-driven underwater robot equipped with a buoyancy system, propeller-propelled and wheel-type driving systems, an active clasping/unclasping mechanism, cleaning system, and observation and communication systems, allowing autonomous inspection and cleaning of mooring chains without manual assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If visual check is performed by recovering the mooring chain on a deck, then inspection can be conducted, but it is inapplicable to floating oil & gas production platforms required to be permanently moored
Solution Approach 1:
The patent replaces the mechanical system of chain recovery with an underwater robotic inspection system that can operate in-situ on permanently moored platforms, eliminating the need to physically recover the chain for inspection
Solution Approach 2:
The patent introduces an underwater robot as an intermediary device between the inspector and the mooring chain, allowing inspection to be performed underwater without requiring chain recovery or platform shutdown
2Measurement precision
If nondestructive test is performed by bringing the mooring chain back to the shore, then detailed inspection can be conducted, but it causes production halt and is inapplicable to permanently moored platforms
Solution Approach 1:
The patent performs inspection actions preliminary to production disruption by using an underwater robot to conduct NDT inspections in-situ while the platform remains operational, avoiding the need to halt production for chain recovery and shore-based testing
Solution Approach 2:
The patent replaces the mechanical recovery and transport system with an underwater robotic system equipped with NDT equipment, enabling accurate inspection without physical chain removal and production shutdown
3Adaptability or versatility
If in-situ test is performed underwater by a submariner, then inspection can be conducted on permanently moored platforms, but there are huge safety problems and depth limitation
Solution Approach 1:
The patent replaces the human operator (submariner) with an autonomous underwater robot, eliminating safety risks to human operators while maintaining the ability to inspect permanently moored platforms at various depths
Solution Approach 2:
The underwater robot performs self-navigation, self-positioning, and self-inspection operations along the mooring chain, eliminating the need for human operators to physically intervene in hazardous underwater environments
4Reliability
If in-situ test is performed by a working remotely operated vehicle (ROV), then inspection can be conducted underwater, but the cost of the equipment and operation cost is very expensive
Solution Approach 1:
The patent designs a multi-functional underwater robot that combines inspection, cleaning, and data collection capabilities in a single platform, reducing the need for multiple specialized equipment and lowering overall operation costs compared to dedicated ROV systems
Solution Approach 2:
The patent uses a cost-effective autonomous underwater vehicle design that replicates the essential inspection functions of expensive ROV systems, providing comparable reliability at lower equipment and operational costs
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient, autonomous inspection and cleaning of mooring chains, reducing operational costs and improving safety by allowing the robot to autonomously reach and inspect mooring chains, perform structural inspections, and return to the surface, while maintaining equipment flexibility and efficiency.
Implementation Method 1
a buoyancy system disposed on the frame structure and used for adjusting the buoyancy of the robot
Implementation Method 2
the propeller-propelled driving system is used for supplying power for underwater motions
Implementation Method 3
the wheel-type driving system is used for driving the robot to move on a mooring chain
Data Source
AI summary
The present invention is applicable to the technical field of marine equipment and provides a hybrid-driven mooring chain cleaning and structural inspection underwater robot and a working method thereof. The hybrid-driven mooring chain cleaning and structural inspection underwater robot includes at least one frame structure; a buoyancy system disposed on the frame structure and used for adjusting the buoyancy of the robot; a driving system disposed on the frame structure; underwater observation and communication systems disposed on the frame structure and used for underwater observation; a cleaning system disposed on the frame structure and used for cleaning a mooring chain; an active clasping/unclasping system disposed on the frame structure; and a structural inspection system disposed on the frame structure.