Remotely operated underwater vehicle

• US 4,721,055 A
• Filed: 10/09/1985
• Issued: 01/26/1988
• Est. Priority Date: 01/17/1984
• Status: Expired due to Fees

• Current Assignee: Stolt Comex Seaway Australia Pty., Ltd. (Subsea 7 SA)
• Original Assignee: Underwater Systems Australia Ltd.
• Inventors: Pado, John T.
• Primary Examiner(s): Peters, Jr., Joseph F.
• Assistant Examiner(s): Bartz, Clifford T.
• Application Number:
  US06/781,271
• Time in Patent Office: 839 Days
• Field of Search: 441/121, 441/23-26, 114/312, 114/330-333, 114/337, 114/338
• US Class Current: 405/191
• CPC Class Codes: B63C 11/52 Tools specially adapted for working underwater, not otherwise provided for
• CPC Class Codes: B63G 2008/007 by means of a physical link to a base, e.g. wire, cable or umbilical
• CPC Class Codes: B63G 8/001 Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42

Abstract

A remotely operated submersible vehicle (21), wherein the vehicle includes flotation cells (62) to provide positive buoyancy, and the vehicle is connected to a disposable clump weight (22) of sufficient weight to overcome the positive buoyancy. The connection between the clump weight and the vehicle is by way of a cable (25) which can be wound onto and off from a drum winch (45) within the vehicle to control its height off the seabed (23). The trim of the vehicle is maintained by adjusting the horizontal position of a cable guide (43) through which the clump weight cable (22) passes, the cable guide (43) being moved longitudinally and transversed by hydraulic cylinders (47). Control signals to control and monitor the operation vehicle are provided via an umbilical cable (29) extending from a ship (76) or platform on the surface. As well as operating with the clump weight (22) on the seabed (23), the vehicle (21) can be made to operate in a `free swimming` mode by selecting a clump weight (22) which only just overcomes the positive buoyancy of the flotation cells (62), positioning the weight to provide a bow up attitude and using a vertical thrust component produced by the thrusters (48) when the vehicle is in the bow up attitude to lift the vehicle from the seabed (23).

Claims

1. A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle.

2. The vehicle of claim 1 wherein two thrusters are provided on the vehicle for manoeuvring and positioning thereof, said thrusters being located on opposite sides of a center line of the vehicle and each being directed for substantially fore and aft thrust.

3. The vehicle of claim 1 or 2 wherein said vehicle is provided with an outer housing having a towable shape.

4. The vehicle of claim 3 wherein a tail fin assembly is provided to improve directional stability during towing.

5. The vehicle of claim 3 or 4 wherein aquaplanes are provided for controlling the depth of the vehicle while under tow.

6. The vehicle as claimed in claim 1, wherein said clump weight is disposable and releasably attached to said free end of said cable.

7. The vehicle as claimed in claim 1, wherein control signals to control and monitor the vehicle are provided via an umbilical cable.

8. The vehicle as claimed in claim 1, wherein one or more remotely controlled grabber arms or manipulator arms are provided thereon for manipulating and carrying loads and said trim of said vehicle is adjusted for varying arm position and load weight by moving said guide means.

9. The vehicle as claimed in claim 1, wherein the guide means is longitudinally and transversely movable by way of hydraulic cylinder means.

10. The vehicle as claimed in claim 1, wherein instrumentation for measuring ambient conditions about the vehicle is provided, display means for said instrumentation being located in a waterproof container having a transparent portion through which said display means is visible, a video camera located within the vehicle beingadapted to be directed at said transparent portion to enable remote reading of said instrumentation display means.

11. A method of operating a remotely operated vehicle of the type comprising thrusters for fore and aft propulsion, positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable having a clump weight attached to a free end thereof, said clump weight being sufficiently heavy to overcome the buoyancy of the positive buoyancy means, and said guide means being horizontally movable within the vehicle to maintain trim of the vehicle wherein the clump weight is selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.

12. A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle and two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicle'"'"'s centre line and each being directed for substantially fore and aft thrust.

13. A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof, the thrustors being located on opposite sides of the vehicle'"'"'s centre line and each being directed for substantially fore and aft thrust, and one or more remotely controlled grabber arms or manipulator arms being provided on the vehicle for manipulating and carrying loads, the trim of the vehicle being adjusted for moving arm position and load weight by moving the guide means, and said guide means being longitudinally and transversely movable by way of hydraulic cylinder means.

14. A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide menas being horizontally movable within the vehicle to maintain the trim of the vehicle and two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicles'"'"'s centre line and each being directed for substantially fore and aft thrust and wherein instrumentation for measuring ambient conditions about the vehicle is provided, display means for said instrumentation being located in a waterproof container having a transparent portion through which said display means is visible, a video camera located within the vehicle being adapted to be directed at said transparent portion to enable remote reading of said instrumentation display means.

15. A method of operating a remotely operated vehicle of the type comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof, said clump weight being made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposie sides of the vehicle'"'"'s centre line and each being directed for substantially fore and aft thrust, and the clump weight being selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.

16. A method of operating a remotely operated vehicle of the type comprising a remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof, said clump weight being made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicle'"'"'s centre line and each being directed for substantially fore and aft thrust, one or more remotely controlled grabber arms or manipulator arms being provided on the vehicle for manipulating and carrying loads and the trim of the vehicle being adjusted for moving arm position and load weight by moving the guide means, the guide means being longitudinally and transversely movable by way of hydraulic cylinder means, and the clump weight being selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.

17. A method of operating a remotely operated vehicle of the type comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof, said clump weight being made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicle'"'"'s centre line and each being directed for substantially fore and aft thrust, instrumentation for measuring ambient conditions about the vehicle being provided with display means located in a waterproof container having a transparent portion through which said display means is visible, a video camera located within the vehicle being adapted to be directed at said transparent portion to enable remote reading of said instrumentation display means, and the clump weight being selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.