• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SUMMARY Underwater device 1 for position determination of cables laid out for hays, comprising, a housing 16, a control means 2a, 2b, 2c for controlling said underwater device 1 positioned outside said housing 16, a first means 5a, 5b for moving said device 1 comprising at least one roller 5a, also positioned outside said housing, a second means 7 for moving said device, positioned outside said housing, said guide means 2a, 2b, 2c being arranged so that it can control the device by means of physical interaction with a cable laid out for hays, preferably at least partially enclosing said cable.
    公开号:SE1300634A1
    申请号:SE1300634
    申请日:2013-10-08
    公开日:2015-04-09
    发明作者:Anders Ljung
    申请人:Acc Group Ab；
    IPC主号:
    专利说明:

    UNDERWATER DEVICE The present invention relates to positioning determination in underwater operations in accordance with claim 1.
    BACKGROUND When laying cables in deep water, it is important to determine the position of the cable in an accurate manner. The cable is generally loaded on a ship and then laid out on the bottom of the sea. The cable can be, for example, an electrical cable or a communication cable for telecommunications, Internet communication or the like. Since the sea can be deep and in many cases be thousands of meters deep, it can be difficult to determine exactly where the cable is positioned after it has been laid. In particular, it is important to know where the cable is made of maintenance shells. Because the boat is so far from the bottom of the sea, the position of the boat does not correspond to the position of the cable at the bottom. The important point to know is the insertion point, that is to say the point where the cable when laying out depends on the bottom.
    Wag determines this position with diving craft. These vessels are of two types, one gets its energy and is controlled via a long dedicated cable. And the second type that is independent and controlled as a miniubat powered by batteries. Both of these types move by means of propellers generally several propellers. Of course, these vessels are complex and very costly. They are also responsible for working with because they are exposed to ocean currents. And furthermore, it is time consuming to dive with them and find the starting point for the insertion point for the cable that is about to be laid out.
    BRIEF DESCRIPTION OF THE INVENTION In order to solve at least some of the problems of the above mentioned [(arid technology '), an underwater vehicle is proposed according to claim 1.
    The submarine has several advantages over the known technology. First of all, it uses the cable that it lays out itself for movement and control. That is, the device moves down along the cable which is about to be laid out and then reaches the point of insertion in a very precise and accurate manner.
    The device preferably has rollers for movement along the cable. The rollers are particularly efficient, more efficient than just the use of propellers.
    The device can be provided as a complement with a propeller. This propeller is only intended to be used when the device, for example, needs to be moved forward due to obstacles in the form of joints on the cable or the like. And therefore the device is very energy efficient. And in a further development, the device needs almost no energy ails to reach the point of insertion of the cable. Since it has a floating shape which is adapted so that the device moves downwards along the cable. And then the airfoil can be adjusted to a somewhat positive buoyancy father to perform normal use of the device near the point of insertion.
    LIST OF FIGURES Figure 1, shows a device according to the invention Figure 2, shows the use of a device according to the invention DETAILED DESCRIPTION The present invention relates to a device 1 as shown in Figure 1. The device has a housing 16. The device is further arranged with guide and displacement means. The control means 2a, 22a, 2b, 22b, 2c, 22c, are shown in par. The controls are in the form of pairs with a claw-like configuration. A first kb o 2a can thus pivot towards a second kb o 22a, thereby forming a continuous hl which is somewhat larger than the cable 14 to be laid out. The inside of the claws of the guide means are provided with friction-lowering means, preferably in the form of rollers. Other means are conceivable, for example surfaces of PTFE plastic or the like. Or combinations of rollers and sliding surfaces for this purpose.
    The device 1 also comprises an energy source, preferably in the form of a batted to supply electricity.
    Figure 1 shows and first means 5a, and 5b for moving the device. These means, in contrast to the prior art, do not consist of propellers or any other water transfer device. Instead, it comprises a ruble 5a which is motor driven. The roller is preferably motor driven by means of a brushless motor. The roller 5a is preferably arranged in a pair with an opposite ruble 5b. Both rollers 5a, 5b are suspended so that they can grip the cable 14, through this the device 1 can be moved along the cable.
    The device further comprises slip means 4a. The slip means 4a is preferably in the form of a ruble having a sensor which can determine the angular velocity of the roll as it rolls along the cable. By arranging Ora in this way, the device is arranged so that it can compare the angular velocity of the first displacement means 5a, 5b with the slip means 4a and if a difference arises, it can determine that the first displacement device actually slips.
    The slip means 4a is preferably associated with a second slip means 4b, preferably in the form of a roller, which can interact with the slip means 4a to clamp the cable. The slip means 4a, 4b may also comprise a motor, so that the slip means can be used for moving the device 1 if, for example, the first moving means 5a, 5b of the device have Ott sander or the like.
    The underwater device 1 is also equipped with a first sensor means 3a. The sensor means 3a, can decide if the cable which is dropped by the device has a portion 15 with a larger diameter than the cable 14 of the main length p5. The sensor means are preferably a roller 3a. If said roller is moved in the radial direction by a portion with larger diameters 15, it can sense this by means of a sensor, for example a potentiometer device, and thus the device can act in order to be free from this portion 15. The first sensor means 3a, are preferably arranged with an opposite roller 3b.
    Generally, the device 1 is arranged with a control unit 17. The control unit 17 is arranged to control the device 1. For example, when the first sensor means 3a senses that a larger diameter joint 15 of the cable arrives, loosen the first displacement devices 5a, 5b and the slip means 4a. 4b from the cable then use a second transfer device 7 in the form of a propeller to be moved over the joint. And then continue its operation without using the propeller 7 to move the device 1.
    The device comprises a tank for pressurized gas. A negative buoyancy tank to be able to change the buoyancy of the device 1. The device 1 is located when it dives along the cable, in a heavy layer when it moves downwards by means of gravity with water in the tank for the negative buoyancy. When it then reaches a suitable depth, the shape of the device for others by removing water from the tank for negative fluidity by introducing pressurized gas in the form of air or nitrogen, for example. Preferably, the device has a float shape which is higher than the gravitational force, so that it is maintained in a preferred position on the cable.
    When it lifts from the bottom at the end of use, the housing 16 of the device can also be filled with gas / fluid which further increases the buoyancy, thus it moves up to the surface in all essentials without consuming energy.
    The device further comprises sensors for height above the bottom 9, 10, and the angle of inclination 11 and depth 12. The height sensors are preferably sonar sensors. The depth sensor is preferably a pressure sensor.
    The device 1 is further provided with a sounding transmitter, for transmitting signals to a receiver. The receiver Or is preferably placed p5 a bat by means of the signal, the position of the device can be determined. And as a consequence, the insertion point 20 is also determined.
    权利要求:
    Claims (16)
    [1]
    1. a housing (16) 2. control means (2a, 2b, 2c) for controlling said underwater device (1) positioned outside the saga housing (16), 3. a first means (5a, 5b) for moving said device (1 ) comprising at least one roller (5a), also positioned outside said housing, 4. a second means (7) for moving said device (1), positioned outside said housing, said guide means (2a, 2b, 2c) being arranged so that it can control the device by means of a physical interaction with a cable to be laid out to hays, preferably at least partially enclosing said cable, the device being arranged so that it can transmit signals so that the position of the device can be determined.
    [2]
    Underwater device (1) according to claim 1, wherein the control means (2a, 2b, 2c) comprise two elements (22a, 22aa; 22b, 22bb; 22c, 22cc) which are pivotally fixed indirectly or directly to said housing (16), pa in such a way that the two elements (22a, 22aa; 22b, 22bb; 22c, 22cc) can essentially form a continuous hall, through which a cable can be extended.
    [3]
    Underwater device (1) according to claim 1 or 2, wherein said control means (2a, 2b, 2c) are arranged so that they can control said underwater device at a state when the buoyancy of the underwater device is greater than its weight of the underwater device, preferably with a medal of rollers as Or arranged in positions closest to which a cable would touch the device during use.
    [4]
    An underwater device (1) according to any one of claims 1 to 3, wherein at least one roller (5a) comprises the first means (5a, 5b) for moving the device (1) comprising at least one motor for interacting with a cable for moving the device. .
    [5]
    An underwater device (1) according to claim 4, wherein the roller (5a) comprises a brushless motor.
    [6]
    An underwater device (1) according to claim 5, wherein the device comprises a second roller (5b) which is either motor-driven or non-motor-driven, in pair with the first roller, the rollers (5a, 5b) being able by means of their suspension to the device (1 ) are moved towards and apart from each other to grasp and release a cable.
    [7]
    An underwater device (1) according to any one of the preceding claims, wherein the device comprises a slip means (4) for determining the function of the first means of movement (5a, 5b).
    [8]
    An underwater device (1) according to claim 7, wherein the slip means (4a, 4b) comprises at least one roller, said roller (4a) comprising a sensor for determining the angular velocity of the roller (4a).
    [9]
    Underwater device (1) according to claim 8, wherein the device (1) is arranged to be able to compare the angular velocity of the roller of the slip means (4a, 4b) with an output signal from the first means for movement and thereby determine whether the roller or rollers of the first the displacement means (5a, 5b) rotates at a different speed than the slip means (4a, 4b).
    [10]
    An underwater device (1) according to claim 9, wherein the slip means (4) comprises a motor s5 that in the event of an error having the first float transfer device (5a, 5b) erected, the slip means can be used as a displacement means.
    [11]
    An underwater device (1) according to any one of the preceding claims, wherein the device is further equipped with a first sensor means (3a, 3b) for determining that the cable (14) which is dropped by the device (1) has a portion (15) with a rigid diameter of the main length of the cable (14), preferably said medal (3a, 3b) comprises a roller (3a) following said cable (14) and a signal generating medal associated with said roller indicates when said roller (3a, 3b) deviates in a radial direction fr5 n a cable (14).
    [12]
    An underwater device (1) according to any one of the preceding claims, wherein the other means for moving said device (1) comprises a propeller (7).
    [13]
    An underwater device (1) according to any one of the preceding claims, wherein the device (1) is arranged so that it can open all medals which attach said device to the cable and thereby completely release the device from the cable.
    [14]
    An underwater device (1) according to any one of the preceding claims, wherein the device is arranged to control the flow shape of the device, preferably by introducing water into a tank within the housing, and removing water from said tank by introducing compressed fluid therein. air or suffocation.
    [15]
    An underwater device (1) according to any one of the preceding claims, wherein the device is arranged so that it can return to the surface after the use of the underwater, can drive the floating form by introducing compressed fluid into the housing itself.
    [16]
    An underwater device (1) according to any one of the preceding claims, wherein the device comprises an on-board control unit (17), said control unit (17). 1/2 1 1112 17 13 16 9 22aa 14 3b34a22b2bb 4b 22a 2c 22c 6b 22cc 22b
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    同族专利:
    公开号 | 公开日
    EP3055911A4|2017-06-28|
    SE537622C2|2015-08-11|
    EP3055911A1|2016-08-17|
    WO2015053691A1|2015-04-16|
    EP3055911B1|2019-12-04|
    引用文献:
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    US8575938B2|2010-04-20|2013-11-05|Pgs Geophysical As|Electrical power system for towed electromagnetic survey streamers|DE202015102743U1|2015-05-27|2016-08-30|Bohlen & Doyen Gmbh|Device for introducing an object, in particular a cable, into a body of water|
    US10131057B2|2016-09-20|2018-11-20|Saudi Arabian Oil Company|Attachment mechanisms for stabilzation of subsea vehicles|
    WO2021229509A1|2020-05-13|2021-11-18|Russel 10984Ltd|Device and method for underwater sampling|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1300634A|SE537622C2|2013-10-08|2013-10-08|Underwater Device|SE1300634A| SE537622C2|2013-10-08|2013-10-08|Underwater Device|
    PCT/SE2014/051157| WO2015053691A1|2013-10-08|2014-10-06|Under water device|
    EP14852228.7A| EP3055911B1|2013-10-08|2014-10-06|Under water device|
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