公开(公告)号：US12208870B2

公开(公告)日：2025-01-28

申请号：US17276356

申请日：2019-09-03

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Minehiko Mukaida ,  Hiroshi Sakaue ,  Noriyuki Okaya ,  Koichi Fukui ,  Yuki Kaga ,  Fumitaka Tachinami

IPC: B63C11/52 ,  B63G8/08 ,  B63G8/14 ,  B63G8/39 ,  G05D1/00

Abstract: An underwater vehicle system includes: a first underwater vehicle configured to perform work in water while moving in a predetermined proceeding direction; and a second underwater vehicle configured to replace the first underwater vehicle and perform work in water. When the second underwater vehicle replaces the first underwater vehicle, the second underwater vehicle approaches the first underwater vehicle based on a signal transmitted from the first underwater vehicle.

公开(公告)号：US11433999B2

公开(公告)日：2022-09-06

申请号：US16769482

申请日：2019-04-26

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY

Inventor： Ximing Sun ,  Hongyang Zhao ,  Zhuocheng Jiang

IPC: B64C29/00 ,  B64C27/26 ,  B63G8/14 ,  B63G8/00 ,  B64C27/28

Abstract: A vehicle capable of taking off and landing vertically and operating in water, land, air and submarine environments includes a fuselage, two main wings, ailerons, a vertical tail, a rudder, a horizontal tail, elevators, a propeller, rotor wings, rotor wing supports, etc. The vehicle has the advantages of adaptability to various environments, good concealment and strong survivability. Compared with a traditional unmanned rotorcraft, the vehicle has longer endurance time and larger load. Compared with a fixed wing UAV, the vertical take-off and landing function makes the work more convenient. Compared with unmanned diving equipment, the vehicle is applicable to richer environments, and can complete designated missions in air, land, water and submarine environments. Compared with a tilt rotor UAV in water, land, air and submarine environments, the vehicle is rapider in switching of various modes and is higher in stability.

公开(公告)号：US11235472B2

公开(公告)日：2022-02-01

申请号：US16817759

申请日：2020-03-13

Applicant: Saudi Arabian Oil Company

Inventor： Ammar Al Nahwi ,  Fadl Abdellatif ,  Ali Outa ,  Ihsan Al-Taie

IPC: 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

Abstract: 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.

公开(公告)号：US10822065B2

公开(公告)日：2020-11-03

申请号：US15662529

申请日：2017-07-28

Applicant: Cameron International Corporation

Inventor： Harold Daley ,  Mac M Kennedy ,  Michael Urdiales ,  Gerrit Kroesen

IPC: B63G8/00 ,  B63G8/14

Abstract: An underwater vehicle is configured to transfer a payload between a first location and a second location at a subsea structure. The underwater vehicle includes a payload support configured to support the payload and a buoyancy control system. The buoyancy control system includes at least one of an exchange weight system configured to receive one or more exchange weights when delivering the payload, a floatation system having one or more floatation devices coupled to the payload, or a combination thereof.

公开(公告)号：US10655756B2

公开(公告)日：2020-05-19

申请号：US15790985

申请日：2017-10-23

Applicant: Michael W. N. Wilson

Inventor： Michael W. N. Wilson

IPC: F16L1/12 ,  F16L1/20 ,  B63B35/03 ,  B63C7/08 ,  B63G8/14 ,  F16L1/24 ,  F16L1/16

Abstract: A method for governing the elevation, attitude and structural integrity of a pressure-containing vessel in a body of liquid counterbalances flotation and incompressible ballast mediums against each other in separate serial compartments. Varying the quantity of incompressible ballast medium allows control of the elevation and attitude of the vessel. If the flotation medium is compressible, varying the quantity of flotation medium allows control of the ambient pressure of the vessel. The method facilitates floating and towing and laying of an undersea pipeline on, to and at a deep water site.

公开(公告)号：US10589432B2

公开(公告)日：2020-03-17

申请号：US15677509

申请日：2017-08-15

Applicant: Saudi Arabian Oil Company

Inventor： Ammar Al Nahwi ,  Fadl Abdellatif ,  Ali Outa ,  Ihsan Al-Taie

IPC: 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

Abstract: 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.

公开(公告)号：US10583905B2

公开(公告)日：2020-03-10

申请号：US15834396

申请日：2017-12-07

Applicant: ABB Schweiz AG

Inventor： Gregory Cole ,  William Eakins ,  Daniel Lasko ,  Harshang Shah ,  Thomas Fuhlbrigge ,  Biao Zhang ,  Sanguen Choi ,  Luiz Cheim ,  Poorvi Patel ,  Andrew Salm

IPC: B63G8/14 ,  B63G8/22 ,  B63G8/00

Abstract: A submersible inspection drone used for inspection can include a ballast system used to control depth of the submersible inspection drone. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The ballast system can include a pressure vessel for storing fluid and a bag for inflating and deflating as it receives a fluid. Buoyancy of the submersible inspection drone can be provided by change in density of the pressure vessel as a compressible gas is expanded when the ballast bag is caused to inflate or deflate. A pump can be used to draw fluid from the ballast bag and store the fluid in the pressure vessel. In one form the pressure vessel can include a compressible fluid and an incompressible fluid, where the incompressible fluid is used to inflate and deflate the bag.

公开(公告)号：US10369705B2

公开(公告)日：2019-08-06

申请号：US16217942

申请日：2018-12-12

Applicant: Saudi Arabian Oil Company

Inventor： Hassane Trigui ,  Ali Outa ,  Sahejad Patel ,  Fadl Abdellatif

IPC: 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

Abstract: 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.

公开(公告)号：US20190111572A1

公开(公告)日：2019-04-18

申请号：US16217942

申请日：2018-12-12

Applicant: Saudi Arabian Oil Company

Inventor： Hassane Trigui ,  Ali Outa ,  Sahejad Patel ,  Fadl Abdellatif

IPC: 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 classification number: 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

Abstract: 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.

公开(公告)号：US20190039251A1

公开(公告)日：2019-02-07

申请号：US16153295

申请日：2018-10-05

Applicant: Saudi Arabian Oil Company

Inventor： Ali Outa ,  Fadl Abdellatif ,  Sahejad Patel

IPC: 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 classification number: 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

Abstract: 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.