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公开(公告)号：US11235472B2
公开(公告)日：2022-02-01
申请号：US16817759
申请日：2020-03-13
发明人： Ammar Al Nahwi , Fadl Abdellatif , Ali Outa , Ihsan Al-Taie
IPC分类号： B25J15/00 , B08B1/00 , B08B3/02 , B08B9/023 , B63C11/52 , F16L1/26 , B63G8/00 , B63H19/08 , F16H19/08 , B63G8/14 , B23K31/12 , B63G8/42 , G01B17/02 , G01N29/22 , G01N29/04 , B25J9/00 , B63C11/42 , E21B41/04 , F16H35/18 , F16H1/22 , F16L55/00 , B62D57/00 , F16H1/16 , F16H37/04
摘要： An inspection crawler, and systems and methods for inspecting underwater pipelines are provided. The system includes the inspection crawler having a housing with a first side, an opposing second side, a power source, and a controller. The crawler includes an inspection tool, at least two pairs of latching arms, each latching arm including a rolling element, and at least two pairs of driving wheels. The system also includes at least one communication unit configured to communicate with the inspection crawler and to communicate aerially with one or more remote devices and, and at one sea surface unit. The inspection crawler can further include a connecting structure connecting the front and back portions of the crawler, and configured to elongate and shorten the inspection crawler.
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公开(公告)号：US10589432B2
公开(公告)日：2020-03-17
申请号：US15677509
申请日：2017-08-15
发明人： Ammar Al Nahwi , Fadl Abdellatif , Ali Outa , Ihsan Al-Taie
IPC分类号： G01N29/22 , B25J15/00 , B08B1/00 , B08B3/02 , B08B9/023 , B63C11/52 , F16L1/26 , B63G8/00 , B63H19/08 , F16H19/08 , B63G8/14 , B23K31/12 , B63G8/42 , G01B17/02 , G01N29/04 , B25J9/00 , B63C11/42 , E21B41/04 , F16H35/18 , F16H1/22 , F16L55/00 , B62D57/00 , F16H1/16 , F16H37/04
摘要： A system for underwater inspection including an inspection crawler are provided. The inspection crawler includes a housing having first and second sides, a power source, a controller, an inspection tool, at least two driving wheels, and a moveable center of gravity. A method for traversing a weld joint with the inspection crawler having a moving mass is also provided. In the method, the crawler is parked proximate to the joint, and the mass is slid along a slide rail to the second end of the crawler distal to the joint. The first end of the crawler is then propelled over the joint and the mass is slid to the center of the crawler. A center portion of the crawler is then propelled over the joint and the mass is slid to the first end of the crawler. The second end of the crawler is then propelled over the joint.
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公开(公告)号：US20200049621A1
公开(公告)日：2020-02-13
申请号：US16482245
申请日：2018-01-30
发明人： SELCUK OZYURT , BULENT AYDIN , BASAK AKDEMIR , NIL GIRGIN , KAAN ALPER , SULEYMAN SEMSIOGLU , ZIYA ALPAY , SENA KARALI , CANSIN COKOL
摘要： The present invention is an illumination assembly (10) for providing illumination in an underwater medium which at least partially absorbs light. The subject matter illumination assembly (10) is characterized by comprising a light sensing unit (300) having at least one fluid chamber (420), pluralities of fluid intake openings (421), at least one light source (330) positioned inside the fluid chamber (420) and which emits light in at least one first spectrum, at least one photo-diode (310) in a manner facing said light source (330) and which generates signal related to the distribution in said first spectrum and optical intensity of the wavelengths of the light, which is emitted by the light source (330) and which passes through water; at least one LED array (150) which can emit light in the first spectrum; a control unit (120) which determines the operational setting of LED array (150) according to received signal.
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公开(公告)号：US10369705B2
公开(公告)日：2019-08-06
申请号：US16217942
申请日：2018-12-12
发明人： Hassane Trigui , Ali Outa , Sahejad Patel , Fadl Abdellatif
IPC分类号： B63H19/08 , B25J15/00 , E21B41/04 , F16H19/08 , G01N29/22 , G01B17/02 , B63G8/42 , G01N29/04 , B63C11/42 , B08B3/02 , B08B9/023 , B63C11/52 , B63G8/00 , F16L1/26 , B25J9/00 , B23K31/12 , B63G8/14 , B08B1/00 , B62D57/00 , F16H1/16 , F16L55/00 , F16H37/04
摘要： A water environment robotic system and method has a buoyancy configuration which can be selectively altered. The system includes an underwater robotic vehicle and a buoyancy module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the buoyancy module and a motor is operatively connected to the tether and is configured to extend and retract the tether and buoyancy module. The tether can be extended and retracted to extend and retract the buoyancy module. Extending and retracting the buoyancy module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the arrangement of the system. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered.
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公开(公告)号：US20190111572A1
公开(公告)日：2019-04-18
申请号：US16217942
申请日：2018-12-12
发明人： Hassane Trigui , Ali Outa , Sahejad Patel , Fadl Abdellatif
IPC分类号： B25J15/00 , B08B1/00 , E21B41/04 , F16H19/08 , G01N29/22 , G01B17/02 , B63G8/42 , G01N29/04 , B63C11/42 , B08B3/02 , B08B9/023 , B63C11/52 , B63G8/00 , F16L1/26 , B25J9/00 , B23K31/12 , B63G8/14
CPC分类号： B25J15/0028 , B08B1/00 , B08B3/024 , B08B9/023 , B23K31/125 , B25J9/0009 , B25J15/0009 , B62D57/00 , B63C11/42 , B63C11/52 , B63G8/00 , B63G8/001 , B63G8/14 , B63G8/42 , B63G2008/002 , B63G2008/005 , B63G2008/008 , B63H19/08 , E21B41/04 , F16H1/16 , F16H1/222 , F16H19/08 , F16H35/18 , F16H37/041 , F16H2019/085 , F16L1/26 , F16L1/265 , F16L55/00 , G01B17/02 , G01N29/04 , G01N29/225 , G01N2291/0234 , G01N2291/02854 , G01N2291/2675
摘要： A water environment robotic system and method has a buoyancy configuration which can be selectively altered. The system includes an underwater robotic vehicle and a buoyancy module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the buoyancy module and a motor is operatively connected to the tether and is configured to extend and retract the tether and buoyancy module. The tether can be extended and retracted to extend and retract the buoyancy module. Extending and retracting the buoyancy module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the arrangement of the system. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered.
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公开(公告)号：US20190039251A1
公开(公告)日：2019-02-07
申请号：US16153295
申请日：2018-10-05
发明人： Ali Outa , Fadl Abdellatif , Sahejad Patel
IPC分类号： B25J15/00 , B08B3/02 , B63G8/00 , B23K31/12 , B25J9/00 , F16L1/26 , B63C11/42 , B63C11/52 , G01N29/22 , F16H35/18 , F16H19/08 , E21B41/04 , B63H19/08 , G01N29/04 , G01B17/02 , B08B1/00 , B63G8/42 , B63G8/14 , B08B9/023 , B62D57/00 , F16L55/00
CPC分类号： B25J15/0028 , B08B1/00 , B08B3/024 , B08B9/023 , B23K31/125 , B25J9/0009 , B25J15/0009 , B62D57/00 , B63C11/42 , B63C11/52 , B63G8/00 , B63G8/001 , B63G8/14 , B63G8/42 , B63G2008/002 , B63G2008/005 , B63G2008/008 , B63H19/08 , E21B41/04 , F16H19/08 , F16H35/18 , F16H2019/085 , F16L1/26 , F16L1/265 , F16L55/00 , G01B17/02 , G01N29/04 , G01N29/225 , G01N2291/0234 , G01N2291/02854 , G01N2291/2634 , G01N2291/2675
摘要： A two-part, selectively dockable robotic system having counterbalanced stabilization during performance of an operation on an underwater target structure is provided. The robotic system includes a first underwater robotic vehicle that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool that can act upon the target structure and the other robot includes a stabilization module that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool.
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7.发明授权公开(公告)号：US09387911B2
公开(公告)日：2016-07-12
申请号：US14358718
申请日：2012-11-15
申请人： Subsea 7 Limited
CPC分类号： B63B27/08 , B63B27/00 , B63B27/36 , B63C7/20 , B63C11/42 , B63G8/001 , B63G2008/004 , B63G2008/007 , B66D1/60
摘要： A subsea payload such as an AUV (autonomous underwater vehicle) or an AUV garage is lifted from an underwater location by flying a latch unit through the water to the payload. The latch unit carries a lift line toward the payload. The latch unit is then attached to the payload and the payload is lifted using tension applied through the lift line via the latch unit. The latch unit can also be used on a lift line to lower a payload and then to release the payload at an underwater location. The lift line is supported by a heave-compensating winch on a surface vessel that effects z-axis movement of the latch unit. The winch maintains tension on the lift line to prevent the lift line falling on the payload. Movement of the latch unit on x- and y-axes is effected by on-board thrusters.
摘要翻译： 诸如AUV（自主水下航行器）或AUV车库的海底有效载荷通过将闩锁单元通过水飞行到有效载荷而从水下位置提升。 闩锁单元携带提升线朝向有效载荷。 然后将闩锁单元附接到有效载荷上，并且使用经由闩锁单元通过提升线施加的张力提升有效载荷。 闩锁单元也可用于升降线上以降低有效载荷，然后在水下位置释放载荷。 升降线由表面容器上的起重补偿绞盘支撑，从而影响闩锁单元的z轴运动。 绞车在电梯线上保持张力，以防止电梯线落在有效载荷上。 闩锁单元在x轴和y轴上的移动由车载推进器实现。
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公开(公告)号：US09162764B2
公开(公告)日：2015-10-20
申请号：US12792494
申请日：2010-06-02
申请人： Holger Babinsky , Simon McIntosh , Lee Whitcher , Steve Potter
发明人： Holger Babinsky , Simon McIntosh , Lee Whitcher , Steve Potter
CPC分类号： B64C39/064 , B63C11/42 , B63G8/16 , B63H2011/002 , Y10T29/49826
摘要： This invention relates to a craft designed to move through or on a surface of a fluid. It is believed to be principally of use in relation to airborne craft and missiles but the theory behind the invention is equally applicable for example to submarines.
摘要翻译： 本发明涉及被设计成移动通过流体或在流体表面上的工艺。 相信主要用于空中飞行器和导弹，但本发明背后的理论同样适用于潜艇。
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公开(公告)号：US20050204992A1
公开(公告)日：2005-09-22
申请号：US11113590
申请日：2005-04-25
申请人： Chris Shelton , Nigel Jagger , Shaun Househam , Lawrence Tyson , Jeremy Cooper , Michael Dormer , Jan Paoli , Nicholas Kempt , Mark Sanders , Graham Pullin , Jaime Miro , Frances Samalionis , Paul South , Tracy Currer , Steve O'Connor , Martin Bontoft
发明人： Chris Shelton , Nigel Jagger , Shaun Househam , Lawrence Tyson , Jeremy Cooper , Michael Dormer , Jan Paoli , Nicholas Kempt , Mark Sanders , Graham Pullin , Jaime Miro , Frances Samalionis , Paul South , Tracy Currer , Steve O'Connor , Martin Bontoft
IPC分类号： B63C11/42 , B63C11/48 , B63G8/00 , B63H21/17 , B63H21/22 , F16M11/12 , F16M11/18 , H01F38/14 , H01H9/02 , H01H25/04 , H01M2/10 , H01M2/20 , H01M10/40 , H01M10/42 , H01M10/46 , H01R13/523 , H01R13/625 , H02K5/128 , H02K7/14
CPC分类号： H01H9/0214 , B63C11/48 , B63G8/001 , B63G8/38 , B63G2008/007 , B63H21/17 , B63H21/22 , F16M11/125 , F16M11/18 , H01F38/14 , H01F2038/143 , H01H9/0235 , H01H25/04 , H01H2009/0257 , H01H2221/012 , H01M2/1022 , H01M2/1083 , H01M2/20 , H01M10/42 , H01M10/4257 , H01M10/46 , H01R13/523 , H01R13/625 , H02K5/1285 , H02K7/14
摘要： An ROV comprising a topside, a fish and an umbilical cable for connecting the topside and the fish together. The fish is adapted to be powered by an onboard battery inductively coupled to the fish. The cable is of a fine diameter to reduce drag through the water. RF transmissions carry control and return signals to and from the fish and topside. The fish has two cameras. The front facing camera is located behind a dual layer flooded dome. A pan and tilt mechanism is fitted to one of the cameras and uses a pivotable gimbal frame driven by a lead nut moving along an arcuate bolt.
摘要翻译： 一个ROV，包括一个顶部，一条鱼和一条脐带缆，用于将上面和鱼连在一起。 该鱼适用于通过电感耦合到鱼的车载电池供电。 电缆具有细小的直径以减少通过水的阻力。 射频发射装置控制和返回信号往返于鱼和上部。 鱼有两个相机。 前置摄像头位于双层淹没的圆顶后面。 一个摄像机安装了一个平移和倾斜机构，并使用一个可旋转的万向架，由一个沿弓形螺栓移动的导螺母驱动。
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10.发明授权Method for lowering an object to an underwater installation site using an ROV 失效使用ROV将物体降低到水下安装地点的方法公开(公告)号：US06935262B2
公开(公告)日：2005-08-30
申请号：US10766251
申请日：2004-01-28
摘要： The method for lowering an object to an underwater installation site, wherein a submersible remotely operated vehicle (ROV) having at least one thruster for providing lateral thrust is interconnectable to an object, entails providing a vessel, having a winch and suspension cable; interconnecting and lowering the object and ROV towards the underwater installation site using a suspension cable, providing at least one anchor near the installation site; interconnecting each anchor and ROV with a positioning wire, while the ROV and object are suspended in the holding position; tensioning and adjusting the length of each positioning wire such that the interconnected ROV and object are positioned with respect to the installation site; and further lowering interconnected object and ROV, which are positioned by at least one positioning wire onto the installation site while keeping the interconnected object and ROV suspended from a suspension cable.
摘要翻译： 用于将物体降低到水下安装地点的方法，其中具有至少一个用于提供横向推力的推进器的潜水遥控车辆（ROV）可与物体相互连接，需要提供具有绞盘和吊索的船舶; 使用悬挂电缆将物体和ROV互连和降低到水下安装地点，在安装地点附近提供至少一个锚杆; 每个锚和ROV与定位线互连，而ROV和物体悬挂在保持位置; 张紧和调整每个定位线的长度，使得互连的ROV和物体相对于安装地点定位; 并且将互连物体和ROV进一步降低，其将至少一个定位线定位在安装地点上，同时保持互连的物体和ROV悬挂在悬挂缆索上。
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