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WO2017021627A1 - Unit for cleaning underwater structures and associated submersible cleaning assembly - Google Patents

Unit for cleaning underwater structures and associated submersible cleaning assembly Download PDF

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Publication number
WO2017021627A1
WO2017021627A1 PCT/FR2016/051969 FR2016051969W WO2017021627A1 WO 2017021627 A1 WO2017021627 A1 WO 2017021627A1 FR 2016051969 W FR2016051969 W FR 2016051969W WO 2017021627 A1 WO2017021627 A1 WO 2017021627A1
Authority
WO
WIPO (PCT)
Prior art keywords
drum
scraping
cleaning
cleaning unit
tool
Prior art date
Application number
PCT/FR2016/051969
Other languages
French (fr)
Inventor
Maxime CERRAMON
Adrien TCHEKINIAN
Original Assignee
Searov Offshore Sas
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Searov Offshore Sas filed Critical Searov Offshore Sas
Priority to EP16770036.8A priority Critical patent/EP3328725B1/en
Publication of WO2017021627A1 publication Critical patent/WO2017021627A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • the invention is in the field of remote controlled submersible vehicles.
  • the invention relates more particularly to a submarine structure cleaning tool.
  • underwater structure is meant and not limited to oil platforms, underwater anodes, hulls of ships or tankers, or lines of anchors.
  • the surface of these underwater structures is subject to the appearance of dirt resulting from prolonged exposure in the sea. These soils are most often corals, algae or oysters.
  • the invention thus provides a submersible cleaning tool adapted to be remotely controlled from the surface and capable of cleaning surfaces. underwater even with difficulty accessible and without damaging the constituent materials of these surfaces.
  • the submersible cleaning unit of the invention is adapted to be driven by means of propulsion and remotely controlled, and is essentially characterized in that it is equipped with at least one rotary scraper system.
  • marine fouling present on the surface of said underwater structure, which comprises at least one scraping tool mounted on a drum whose longitudinal axis defines the axis of rotation of said rotary scraping system, and in that the drum is adapted to be rotated and intended to be positioned parallel to the surface to be cleaned.
  • the cleaning tool of the invention may also include the following optional features considered in isolation or according to all possible technical combinations:
  • the cleaning unit comprises a hydraulic motor which is mounted in the axis of the drum at one of its two ends and fed by a hydraulic unit housed in the frame of said cleaning unit.
  • the rotary scraping system and the hydraulic motor extend along a transverse end of the frame of the cleaning unit.
  • scraping tools are arranged along the drum of the rotary scraping system.
  • Each scraping tool is secured to a respective fin which is arranged on at least a portion of the periphery of said drum and which has a reinforcing zone at which said scraping tool is mounted through.
  • the rotary scraping system comprises three scraping tools mounted along the drum, the three scraping tools being secured to the drum being positioned in angular offset of 120 ° on said drum.
  • each scraping tool consists of a metal chain.
  • the metal chain comprises three steel links of grade between 80 and 100, each link having a length of between 1 and 5 centimeters and a section of between 6 and 10 millimeters, and the rotational speed of the drum is between 500 and 900 rpm.
  • the invention also relates to a submersible cleaning assembly of an underwater structure and which is essentially characterized in that it comprises a cleaning unit as described above, which is secured to an underwater robot equipped in particular with propulsion means and capturing means, and controlled remotely.
  • the cleaning unit is mounted under the robot underwater.
  • the hydraulic unit of the cleaning unit is electrically powered by the electrical circuit of the submarine robot.
  • FIG. 1 is a schematic representation of the cleaning assembly of the invention immersed in the cleaning position and connected by a power cable via a pulley to a control platform and guidance.
  • FIG. 2 is a diagrammatic representation in perspective and in elevation of the frame of the cleaning tool of the invention, illustrating in particular the rotary drum devoid of scraping tools in this figure,
  • FIG. 3 is a schematic top view of the hydraulic power unit of the hydraulic motor for rotating the drum of the cleaning tool
  • FIG. 4 is an enlarged view of FIG. 2 illustrating the transverse end of the cleaning tool provided with the partially illustrated scraping tool and the hydraulic motor for rotating the drum of the tool;
  • FIG. 5 is a view similar to that of FIG. 4 on which is shown a scraping tool consisting of a chain with three steel links according to a first variant of the invention,
  • FIG. 6 is an enlarged view of FIG. 5 taken along arrow VI and illustrating the three-link chain made of scraping tool steel of the cleaning tool according to the first variant
  • FIG. 7 is an enlarged view of a scraping tool made of a resin blade according to a second embodiment.
  • the cleaning assembly 1 of the invention comprises an underwater robot 2 under which is mounted a cleaning unit 3.
  • Underwater robot means 2 a remote control vehicle (ROV - remotely operated vehicle) which is submersible in a body of water, here the sea 7, and which can be controlled remotely from a fixed platform 4 or a ship via a cable 5 mounted around a pulley 6.
  • the submarine robot 2 is equipped with propulsion means and one or more unrepresented cameras that are electrically powered via the cable 5.
  • the cable 5 also conveys data, these aspects being known to the user. a person skilled in the art with regard to the use of underwater robots 2 marketed.
  • the cleaning unit 3 comprises a hydraulic unit 8 which will be described later and which is advantageously electrically powered by the electric circuit 9 of the submarine robot 2 thus avoiding the multiplication of the cables 5.
  • the cleaning unit 3 is secured to the submarine robot 2 by welding, by buttoning or by any other means commonly used to assemble a technical unit to a submarine robot 2. Alternatively and not shown, the unit cleaning 3 is not reported to an underwater robot 2 but has its own means of propulsion and capture. One or more operators not shown provide guidance and control of the cleaning assembly 1 from the platform 4. It is also provided on the platform control means, recorders, analyzers and other hardware known to those skilled in the art ensuring the mechanical and electrical guidance of the underwater robot 2, the activation in operation of the cleaning tool 3 and the collection and processing of data.
  • the cleaning assembly 1 is thus guided and placed from the platform 4 near the surface 10 of a submarine structure 11 to be cleaned.
  • One end 12 of the cleaning unit 3 comprises a rotary scraping system which will be described later, which is positioned at an operating distance from the surface 10 and which is actuated in rotation from the platform to rid the surface 10 of the dirt present on the surface 10.
  • the rotary scraping system is controlled inactive and the cleaning assembly 1 is raised to the surface on the platform 4.
  • the cleaning unit 3 comprises a frame 15 substantially composed of two flanks 16 made of plastic, four sleepers 17 of aluminum profile and extends longitudinally by an aluminum nose 18 to the transverse end 12 of the cleaning unit 3.
  • the nose 18 of the cleaning unit 3 comprises a first aluminum flank 19 and a second parallel flank 20, the latter flank 20 forming one of the faces of an aluminum protective duct 21 of the hydraulic motor 22. ( Figure 4) which rotates the rotary scraping system 23 extending transversely and at the longitudinal end of the nose 18 between the first side 19 and the protective duct 21.
  • the rotary scraping system 23 comprises a drum 24 which is made of anti-corrosion steel, for example Dursteel® and whose main axis XX 'defines the axis of rotation of the rotary system 23.
  • the two ends 25,26 of the drum 24 are mounted respectively on the conduit 21 and on the first side 20 via an elastic coupling 27 and two self-aligning bearings 26a arranged on either side of the drum 24.
  • the self-aligning bearing aligner 26a is located between the elastic coupling 27 and the end 25 considered of the drum 24.
  • the elastic coupling 27 and the self-aligning bearings 26a are all visible in Figure 3 and partially visible in Figures 2, 4 and 5
  • the self-aligning bearings 26a are shown without support in FIG. 4, and with support in FIG. 5.
  • the rotary scraping system 23 comprises three fins 28a, 28b, 28c on which are secured the scraping tools not shown in Figures 2 and 4 and which will be described later.
  • the three fins 28a, 28b, 28c are regularly arranged along the drum 24 between two discs 29,30.
  • the diameter of these two discs 29,30 is greater than the largest diameter of the fins 28a, 28b, 28c and the thickness of these discs 29,30 is sufficiently thin to prevent the blocking of the rotation of the drum 24 in case of contact between fine discs 29,30 and the surface to be cleaned.
  • Each fin 28a, 28b, 28c partially surrounds the drum 24 by having a reinforcement 28a1, 28a2 made of a zone of greater thickness on which is formed a through hole 28a2, 28b2 intended to ensure the attachment of the scraping tool on the corresponding fin 28a, 28b, 28c.
  • the three fins 28a, 28b, 28c, or the three reinforcements 28a1,28a2 of a corresponding fin 28a, 28b, 28c are arranged along the drum 24 angularly offset 120 ° C. This angular offset advantageously ensures a regular distribution of masses of scraping tools in motion to avoid unbalance.
  • the hydraulic motor 22 is mounted at the end of the protective duct 21 in the axis XX 'of the drum 24.
  • the hydraulic motor 22 is powered by a hydraulic unit 30 arranged on the frame 15 of the cleaning unit 3.
  • the hydraulic unit 30 is composed of a pump unit 31 consisting of an electric motor 32 which is powered by the electrical circuit of the underwater robot not shown in this figure and which is connected with a pump 33 via an elastic coupling 34.
  • the pump unit 31 is connected to an oil tank 35 and a pressure limiter 36.
  • the hydraulic unit 30 comprises a pressure circuit part 37 and a part of circuit at atmospheric pressure 38.
  • the hydraulic motor 22 is 11 cm 3 cylinder and the 3.1 cm 3 hydraulic pump.
  • the hydraulic motor 22 rotates the drum 24 at a speed between 500 and 900 rpm according to the scraping tool used.
  • the electric motor 32 drives the hydraulic pump 33 in operation which passes the oil contained in the tank 35 to said pump 33 which then sends the oil under pressure to the limiter 36 and, if the pressure is less than one threshold pressure, the hydraulic motor 22.
  • the oil at atmospheric pressure returns to the reservoir 35.
  • the pressure of the high pressure circuit 37 is adjusted to not exceed 190 Bar. If this pressure of 190 Bar is exceeded, a bypass circuit 39 between the limiter 36 and the tank 35 makes it possible to avoid damaging the hydraulic motor 22.
  • the main advantage of implementing a hydraulic unit lies in the possibility of arranging the hydraulic motor 22 as close as possible to the rotary scraping system 30 and in the axis XX 'of the drum 24, this being made possible by the use of flexible cables within the hydraulic unit, which makes it possible to avoid the use of angle gear systems.
  • the scraping tool 40 consists of a steel chain 40 'of grade between 80 and 100 consisting of three links 41 of diameter 8 millimeters and length of 3 centimeters.
  • the three links 41 are secured to the drum 24 by means of a shackle 42 of stainless steel diameter 10 millimeters which is bolted to the reinforcement 28a 1 through the corresponding orifice 28a2.
  • a single complete scraping tool 40 is shown in FIGS. 5 and 6, but it is understood that the rotary scraping system 23 comprises three scraping tools 40 identical to that previously described, each tool 40 being secured to a corresponding fin 28a.28b .28c.
  • the drum 24 is rotated by the hydraulic motor 22 at a speed of 700 revolutions per minute.
  • each scraping tool 40 extends perpendicular to the drum 24, which thus makes it possible to strike the surface to be cleaned when the drum is rotated by the hydraulic motor and the drum 40 position parallel to the surface to be cleaned.
  • the scraping tool 40a may alternatively consist of a resin lamella 43 secured by bolting to the reinforcement 28a 1 of the corresponding fin 28a and thus positioned also perpendicularly to the drum 24.
  • the scraping tool 40,40a may be a steel cable, a brush or a circular propeller. It is important that the scraping tool has both sufficient hardness to scrape and remove dirt from the surface to be cleaned but also a general flexibility to hit it without breaking against the surface to be cleaned when the drum 24 is in rotation and positioned parallel to the surface to be cleaned.
  • the scraping tool is generally elongate in shape and extends perpendicularly or substantially perpendicular to the drum 24.
  • the length of the scraping tool 40, 40a is also adjusted to optimize cleaning and is generally understood, considering the end. free of the scraping tool 40 to the cylindrical surface of the drum 24, between 10 and 20 centimeters. More generally, the length of the scraping tool is adjusted according to the friction generated by the scraping tools to not impede the good rotation of the drum according to the driving capacity of the hydraulic motor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Cleaning In General (AREA)

Abstract

The invention relates mainly to a submersible cleaning unit for cleaning an underwater structure, driven by propulsion means and operated remotely, and which is essentially characterized in that it is equipped with at least one rotary system (23) for scraping marine fouling present on the surface of said underwater structure, which comprises at least one scraper mounted on a drum (24) of which the longitudinal axis (XX') defines the axis of rotation of said rotary scraping system (23), and in that the drum (24) can be made to rotate and is intended to be positioned parallel to the surface that is to be cleaned. The invention also relates to a submersible assembly for cleaning an underwater structure which comprises such a cleaning unit secured to an underwater robot, which underwater robot is notably equipped with propulsion means and with collection means and operated remotely.

Description

" Unité de nettoyage de structure sous-marine et ensemble de nettoyage  "Underwater structure cleaning unit and cleaning set
submersible associé "  submersible partner "
[0001] L'invention s'inscrit dans le domaine des véhicules télécommandés submersibles. The invention is in the field of remote controlled submersible vehicles.
[0002] L'invention porte plus particulièrement sur un outil de nettoyage de structure sous-marine. The invention relates more particularly to a submarine structure cleaning tool.
[0003] On entend par structure sous-marine et de façon non limitative des plateformes pétrolières, des anodes sous-marines, des coques de navires ou de pétroliers, ou encore des lignes d'ancres. [0004] La surface de ces structures sous-marines est soumise à l'apparition de salissures résultant de l'exposition prolongée dans la mer. Ces salissures sont le plus souvent des coraux, des algues ou encore des huîtres. By underwater structure is meant and not limited to oil platforms, underwater anodes, hulls of ships or tankers, or lines of anchors. The surface of these underwater structures is subject to the appearance of dirt resulting from prolonged exposure in the sea. These soils are most often corals, algae or oysters.
[0005] Ces salissures engendrent une augmentation de la charge de la structure considérée et peuvent potentiellement en augmenter également la prise au courant. En outre, ces salissures peuvent masquer des anomalies de type fissure ou oxydation. Il convient donc de débarrasser régulièrement les structures immergées de ces salissures et ce, sans endommager la surface soumise au nettoyage. These soils cause an increase in the load of the structure in question and can potentially increase also the catch current. In addition, these soils can mask cracks or oxidation type anomalies. It is therefore advisable to regularly rid the immersed structures of these soils without damaging the surface subjected to cleaning.
[0006] Comme réalisé actuellement, le nettoyage de ces surfaces par des plongeurs engendre un risque humain important. En outre, les coûts associés au déploiement de plongeurs sont élevés. Enfin, certaines surfaces soumises à des courants importants ou situées à de grandes profondeurs sont difficilement accessibles, sauf à augmenter plus encore les risques humains associés. As currently done, the cleaning of these surfaces by divers creates a significant human risk. In addition, the costs associated with deploying divers are high. Finally, some surfaces subject to large currents or located at great depths are difficult to access, except to increase even more the associated human risks.
[0007] L'invention vise ainsi un outil de nettoyage submersible apte à être télécommandé depuis la surface et capable d'assurer le nettoyage de surfaces sous-marines même difficilement accessibles et ce, sans endommager les matériaux constitutifs de ces surfaces. The invention thus provides a submersible cleaning tool adapted to be remotely controlled from the surface and capable of cleaning surfaces. underwater even with difficulty accessible and without damaging the constituent materials of these surfaces.
À cet effet, l'unité de nettoyage submersible de l'invention est apte à être entraînée par des moyens de propulsion et commandée à distance, et est essentiellement caractérisée en ce qu'elle est équipée d'au moins un système rotatif de raclage de salissures marines présentes à la surface de ladite structure sous-marine, qui comporte au moins un outil de grattage monté sur un tambour dont l'axe longitudinal définit l'axe de rotation du dit système rotatif de raclage, et en ce que le tambour est apte à être commandé en rotation et destiné à être positionné parallèlement à la surface à nettoyer. For this purpose, the submersible cleaning unit of the invention is adapted to be driven by means of propulsion and remotely controlled, and is essentially characterized in that it is equipped with at least one rotary scraper system. marine fouling present on the surface of said underwater structure, which comprises at least one scraping tool mounted on a drum whose longitudinal axis defines the axis of rotation of said rotary scraping system, and in that the drum is adapted to be rotated and intended to be positioned parallel to the surface to be cleaned.
[0008] L'outil de nettoyage de l'invention peut également comporter les caractéristiques optionnelles suivantes considérées isolément ou selon toutes les combinaisons techniques possibles : The cleaning tool of the invention may also include the following optional features considered in isolation or according to all possible technical combinations:
- l'unité de nettoyage comporte un moteur hydraulique qui est monté dans l'axe du tambour au niveau de l'une de ses deux extrémités et alimenté par un groupe hydraulique logé dans le châssis de ladite unité de nettoyage. - The cleaning unit comprises a hydraulic motor which is mounted in the axis of the drum at one of its two ends and fed by a hydraulic unit housed in the frame of said cleaning unit.
- le système rotatif de raclage et le moteur hydraulique s'étendent le long d'une extrémité transversale du châssis de l'unité de nettoyage. the rotary scraping system and the hydraulic motor extend along a transverse end of the frame of the cleaning unit.
- plusieurs outils de grattage sont agencés le long du tambour du système rotatif de raclage. several scraping tools are arranged along the drum of the rotary scraping system.
- chaque outil de grattage est solidarisé à une ailette respective qui est agencée sur au moins une partie de la périphérie dudit tambour et qui comporte une zone de renfort au niveau de laquelle le dit outil de grattage est monté traversant. - le système rotatif de grattage comporte trois outils de grattage montés le long du tambour, les trois outils de grattage étant solidarisés au tambour en étant positionnés en décalage angulaire de 120°sur ledit tambour. - Each scraping tool is secured to a respective fin which is arranged on at least a portion of the periphery of said drum and which has a reinforcing zone at which said scraping tool is mounted through. - The rotary scraping system comprises three scraping tools mounted along the drum, the three scraping tools being secured to the drum being positioned in angular offset of 120 ° on said drum.
- chaque outil de grattage est constitué d'une chaîne métallique. - la chaîne métallique comporte trois maillons en acier de grade compris entre 80 et 100, chaque maillon présentant une longueur comprise entre 1 et 5 centimètres et une section comprise entre 6 et 10 millimètres, et la vitesse de rotation du tambour est comprise entre 500 et 900 tours par minute. [0009] L'invention porte également sur un ensemble de nettoyage submersible d'une structure sous-marine et qui est essentiellement caractérisé en ce qu'il comporte une unité de nettoyage telle que précédemment décrite, qui est solidarisée à un robot sous-marin muni notamment de moyens de propulsion et de moyens de captation, et commandé à distance. [0010] Avantageusement, l'unité de nettoyage est montée sous le robot sous- marin. each scraping tool consists of a metal chain. the metal chain comprises three steel links of grade between 80 and 100, each link having a length of between 1 and 5 centimeters and a section of between 6 and 10 millimeters, and the rotational speed of the drum is between 500 and 900 rpm. The invention also relates to a submersible cleaning assembly of an underwater structure and which is essentially characterized in that it comprises a cleaning unit as described above, which is secured to an underwater robot equipped in particular with propulsion means and capturing means, and controlled remotely. Advantageously, the cleaning unit is mounted under the robot underwater.
[0011] Plus avantageusement, le groupe hydraulique de l'unité de nettoyage est alimenté électriquement par le circuit électrique du robot sous-marin. More preferably, the hydraulic unit of the cleaning unit is electrically powered by the electrical circuit of the submarine robot.
[0012] D'autres caractéristiques et avantages de l'invention ressortiront clairement de la description qui en est donnée ci-dessous, à titre indicatif et nullement limitatif, en référence aux figures annexées parmi lesquelles : Other features and advantages of the invention will emerge clearly from the description given below, for information only and in no way limitative, with reference to the appended figures among which:
- la figure 1 est une représentation schématique de l'ensemble de nettoyage de l'invention immergé en position de nettoyage et relié par un câble d'alimentation via une poulie à une plateforme de contrôle et de guidage. - la figure 2 est une représentation schématique en perspective et en élévation du châssis de l'outil de nettoyage de l'invention illustrant notamment le tambour rotatif dépourvu sur cette figure des outils de grattage, - Figure 1 is a schematic representation of the cleaning assembly of the invention immersed in the cleaning position and connected by a power cable via a pulley to a control platform and guidance. FIG. 2 is a diagrammatic representation in perspective and in elevation of the frame of the cleaning tool of the invention, illustrating in particular the rotary drum devoid of scraping tools in this figure,
- la figure 3 est une représentation schématique de dessus du groupe hydraulique d'alimentation du moteur hydraulique d'actionnement en rotation du tambour de l'outil de nettoyage, - Figure 3 is a schematic top view of the hydraulic power unit of the hydraulic motor for rotating the drum of the cleaning tool,
- la figure 4 est une vue agrandie de la figure 2 illustrant l'extrémité transversale de l'outil de nettoyage munie de l'outil de grattage partiellement représenté et du moteur hydraulique d'entraînement en rotation du tambour de l'outil, - la figure 5 est une vue similaire à celle de la figure 4 sur laquelle est représenté un outil de grattage constitué d'une chaîne à trois maillons en acier selon une première variante de l'invention, FIG. 4 is an enlarged view of FIG. 2 illustrating the transverse end of the cleaning tool provided with the partially illustrated scraping tool and the hydraulic motor for rotating the drum of the tool; FIG. 5 is a view similar to that of FIG. 4 on which is shown a scraping tool consisting of a chain with three steel links according to a first variant of the invention,
- la figure 6 est une vue agrandie de la figure 5 prise selon la flèche VI et illustrant la chaîne à trois maillons en acier formant outil de grattage de l'outil de nettoyage selon la première variante, et FIG. 6 is an enlarged view of FIG. 5 taken along arrow VI and illustrating the three-link chain made of scraping tool steel of the cleaning tool according to the first variant, and
- la figure 7 est une vue agrandie d'un outil de grattage fait d'une lamelle en résine selon une seconde variante de réalisation. - Figure 7 is an enlarged view of a scraping tool made of a resin blade according to a second embodiment.
[0013] En référence à la figure 1 , l'ensemble de nettoyage 1 de l'invention comporte un robot sous-marin 2 sous lequel est monté une unité de nettoyage 3. On entend par robot sous-marin 2 un véhicule télécommandé (ROV - remotely operated vehicle) qui est submersible dans un corps d'eau, ici la mer 7, et qui peut être commandé à distance depuis une plateforme fixe 4 ou un navire par l'intermédiaire d'un câble 5 monté autour d'une poulie 6. [0014] Le robot sous-marin 2 est équipé de moyens de propulsion et d'une ou de plusieurs caméras non représentées qui sont alimentés électriquement via le câble 5. La câble 5 véhicule également des données, ces aspects étant connus de l'homme du métier au regard de l'utilisation des robot sous-marin 2 commercialisés. [0015] L'unité de nettoyage 3 comporte un groupe hydraulique 8 qui sera décrit plus loin et qui est avantageusement alimenté électriquement par le circuit électrique 9 du robot sous-marin 2 en évitant ainsi la multiplication des câbles 5. Referring to Figure 1, the cleaning assembly 1 of the invention comprises an underwater robot 2 under which is mounted a cleaning unit 3. Underwater robot means 2 a remote control vehicle (ROV - remotely operated vehicle) which is submersible in a body of water, here the sea 7, and which can be controlled remotely from a fixed platform 4 or a ship via a cable 5 mounted around a pulley 6. The submarine robot 2 is equipped with propulsion means and one or more unrepresented cameras that are electrically powered via the cable 5. The cable 5 also conveys data, these aspects being known to the user. a person skilled in the art with regard to the use of underwater robots 2 marketed. The cleaning unit 3 comprises a hydraulic unit 8 which will be described later and which is advantageously electrically powered by the electric circuit 9 of the submarine robot 2 thus avoiding the multiplication of the cables 5.
[0016] L'unité de nettoyage 3 est solidarisée au robot sous-marin 2 par soudure, par boutonnage ou par tout autre moyen communément utilisé pour assembler une unité technique à un robot sous-marin 2. Alternativement et non représenté, l'unité de nettoyage 3 n'est pas rapporté à un robot sous-marin 2 mais comporte ses propres moyens de propulsion et de captation. [0017] Un ou plusieurs opérateurs non représentés assurent le guidage et les commandes de l'ensemble de nettoyage 1 depuis la plateforme 4. Il est également prévu sur la plate-forme des moyens de commande, des enregistreurs, des analyseurs et tout autre matériel connu de l'homme du métier assurant le guidage mécanique et électrique du robot sous-marin 2, l'activation en fonctionnement de l'outil de nettoyage 3 et la collecte et traitement des données. The cleaning unit 3 is secured to the submarine robot 2 by welding, by buttoning or by any other means commonly used to assemble a technical unit to a submarine robot 2. Alternatively and not shown, the unit cleaning 3 is not reported to an underwater robot 2 but has its own means of propulsion and capture. One or more operators not shown provide guidance and control of the cleaning assembly 1 from the platform 4. It is also provided on the platform control means, recorders, analyzers and other hardware known to those skilled in the art ensuring the mechanical and electrical guidance of the underwater robot 2, the activation in operation of the cleaning tool 3 and the collection and processing of data.
[0018] L'ensemble de nettoyage 1 est ainsi guidé et placé depuis la plateforme 4 à proximité de la surface 10 d'une structure sous-marine 11 à nettoyer. L'une 12 des extrémités de l'unité de nettoyage 3 comporte un système rotatif de grattage qui sera décrit plus loin, qui est positionné à une distance de fonctionnement de la surface 10 et qui est actionné en rotation depuis la plateforme pour débarrasser la surface 10 des salissures 13 présentes sur la surface 10. Une fois l'opération de nettoyage finalisée, le système rotatif de grattage est commandé inactif et l'ensemble de nettoyage 1 est remonté à la surface sur la plateforme 4. [0019] En référence à la figure 2, l'unité de nettoyage 3 comporte un châssis 15 substantiellement composé de deux flancs 16 en matière plastique, de quatre traverses 17 en profilé aluminium et se prolonge longitudinalement par un nez 18 en aluminium jusqu'à l'extrémité transversale 12 de l'unité de nettoyage 3. The cleaning assembly 1 is thus guided and placed from the platform 4 near the surface 10 of a submarine structure 11 to be cleaned. One end 12 of the cleaning unit 3 comprises a rotary scraping system which will be described later, which is positioned at an operating distance from the surface 10 and which is actuated in rotation from the platform to rid the surface 10 of the dirt present on the surface 10. Once the final cleaning operation, the rotary scraping system is controlled inactive and the cleaning assembly 1 is raised to the surface on the platform 4. [0019] Referring to 2, the cleaning unit 3 comprises a frame 15 substantially composed of two flanks 16 made of plastic, four sleepers 17 of aluminum profile and extends longitudinally by an aluminum nose 18 to the transverse end 12 of the cleaning unit 3.
[0020] Le nez 18 de l'unité de nettoyage 3 comporte un premier flanc 19 en aluminium et un second flanc parallèle 20, ce dernier flanc 20 formant l'une des faces d'un conduit de protection en aluminium 21 du moteur hydraulique 22 (figure 4) qui entraîne en rotation le système rotatif de raclage 23 s'étendant transversalement et à l'extrémité longitudinale du nez 18 entre le premier flanc 19 et le conduit de protection 21. [0021] Le système rotatif de raclage 23 comporte un tambour 24 qui est réalisé en acier anti-corrosion, par exemple en Dursteel® et dont l'axe principal XX' définit l'axe de rotation du système rotatif 23. Les deux extrémités 25,26 du tambour 24 sont montées respectivement sur le conduit de protection 21 et sur le premier flanc 20 via un accouplement élastique 27 et deux paliers auto-aligneurs 26a agencés de part et d'autre du tambour 24. Du côté du moteur hydraulique 22, le palier auto- aligneur 26a est situé entre l'accouplement élastique 27 et l'extrémité considérée 25 du tambour 24. L'accouplement élastique 27 et les paliers auto-aligneurs 26a sont tous visibles sur la figure 3 et partiellement visibles sur les figures 2, 4 et 5. Les paliers auto-aligneurs 26a sont représentés sans support sur la figure 4, et avec support sur la figure 5. Lorsque le système rotatif de raclage 23 est activé en fonctionnement, le tambour 24 est positionné parallèlement à la surface à nettoyer. The nose 18 of the cleaning unit 3 comprises a first aluminum flank 19 and a second parallel flank 20, the latter flank 20 forming one of the faces of an aluminum protective duct 21 of the hydraulic motor 22. (Figure 4) which rotates the rotary scraping system 23 extending transversely and at the longitudinal end of the nose 18 between the first side 19 and the protective duct 21. [0021] The rotary scraping system 23 comprises a drum 24 which is made of anti-corrosion steel, for example Dursteel® and whose main axis XX 'defines the axis of rotation of the rotary system 23. The two ends 25,26 of the drum 24 are mounted respectively on the conduit 21 and on the first side 20 via an elastic coupling 27 and two self-aligning bearings 26a arranged on either side of the drum 24. On the side of the hydraulic motor 22, the self-aligning bearing aligner 26a is located between the elastic coupling 27 and the end 25 considered of the drum 24. The elastic coupling 27 and the self-aligning bearings 26a are all visible in Figure 3 and partially visible in Figures 2, 4 and 5 The self-aligning bearings 26a are shown without support in FIG. 4, and with support in FIG. 5. When the rotary scraping system 23 is activated in operation, the drum 24 is positioned parallel to the surface to be cleaned.
[0022] Le système rotatif de raclage 23 comporte trois ailettes 28a,28b,28c sur lesquelles sont solidarisés les outils de grattage non représentés sur les figures 2 et 4 et qui seront décrits plus loin. Les trois ailettes 28a,28b,28c sont régulièrement agencées le long du tambour 24 entre deux disques 29,30. Le diamètre de ces deux disques 29,30 est supérieur au plus grand diamètre des ailettes 28a,28b,28c et l'épaisseur de ces disques 29,30 est suffisamment fine pour éviter le blocage de la rotation du tambour 24 en cas de contact entre les disques fins 29,30 et la surface à nettoyer. Chaque ailette 28a,28b,28c entoure partiellement le tambour 24 en présentant un renfort 28a1 ,28a2 fait d'une zone de plus grande épaisseur sur laquelle est ménagée un orifice traversant 28a2,28b2 destiné à assurer la solidarisation de l'outil de grattage sur l'ailette 28a,28b,28c correspondante. The rotary scraping system 23 comprises three fins 28a, 28b, 28c on which are secured the scraping tools not shown in Figures 2 and 4 and which will be described later. The three fins 28a, 28b, 28c are regularly arranged along the drum 24 between two discs 29,30. The diameter of these two discs 29,30 is greater than the largest diameter of the fins 28a, 28b, 28c and the thickness of these discs 29,30 is sufficiently thin to prevent the blocking of the rotation of the drum 24 in case of contact between fine discs 29,30 and the surface to be cleaned. Each fin 28a, 28b, 28c partially surrounds the drum 24 by having a reinforcement 28a1, 28a2 made of a zone of greater thickness on which is formed a through hole 28a2, 28b2 intended to ensure the attachment of the scraping tool on the corresponding fin 28a, 28b, 28c.
[0023] En outre, les trois ailettes 28a,28b,28c, ou les trois renforts 28a1,28a2 d'une ailette correspondante 28a,28b,28c, sont agencées le long du tambour 24 en décalage angulaire de 120°C. Ce décalage angulaire permet avantageusement d'assurer une répartition régulière des masses des outils de grattage en mouvement pour éviter le balourd. In addition, the three fins 28a, 28b, 28c, or the three reinforcements 28a1,28a2 of a corresponding fin 28a, 28b, 28c, are arranged along the drum 24 angularly offset 120 ° C. This angular offset advantageously ensures a regular distribution of masses of scraping tools in motion to avoid unbalance.
[0024] Le moteur hydraulique 22 est monté à l'extrémité du conduit de protection 21 dans l'axe XX' du tambour 24. En référence à la figure 3, le moteur hydraulique 22 est alimenté par un groupe hydraulique 30 agencé sur le châssis 15 de l'unité de nettoyage 3. Le groupe hydraulique 30 est composé d'un groupe motopompe 31 constitué d'un moteur électrique 32 qui est alimenté par le circuit électrique du robot sous-marin non représenté sur cette figure et qui est en liaison avec une pompe 33 via un accouplement élastique 34. Le groupe motopompe 31 est en liaison avec un réservoir d'huile 35 et un limitateur de pression 36. Le groupe hydraulique 30 comporte une partie de circuit sous pression 37 et une partie de circuit à pression atmosphérique 38. De façon non limitative, le moteur hydraulique 22 est de cylindre de 11 cm3 et la pompe hydraulique de 3,1 cm3. Le moteur hydraulique 22 fait tourner le tambour 24 à une vitesse comprise entre 500 et 900 tours minutes selon l'outil de grattage utilisé. [0025] Le moteur électrique 32 entraîne la pompe hydraulique 33 en fonctionnement qui fait transiter l'huile contenu dans le réservoir 35 vers ladite pompe 33 qui envoie alors l'huile sous pression vers le limitateur 36 puis, si la pression est inférieure à une pression seuil, le moteur hydraulique 22. À la sortie du moteur hydraulique 22, l'huile à pression atmosphérique retourne vers le réservoir 35. The hydraulic motor 22 is mounted at the end of the protective duct 21 in the axis XX 'of the drum 24. Referring to Figure 3, the hydraulic motor 22 is powered by a hydraulic unit 30 arranged on the frame 15 of the cleaning unit 3. The hydraulic unit 30 is composed of a pump unit 31 consisting of an electric motor 32 which is powered by the electrical circuit of the underwater robot not shown in this figure and which is connected with a pump 33 via an elastic coupling 34. The pump unit 31 is connected to an oil tank 35 and a pressure limiter 36. The hydraulic unit 30 comprises a pressure circuit part 37 and a part of circuit at atmospheric pressure 38. Without limitation, the hydraulic motor 22 is 11 cm 3 cylinder and the 3.1 cm 3 hydraulic pump. The hydraulic motor 22 rotates the drum 24 at a speed between 500 and 900 rpm according to the scraping tool used. The electric motor 32 drives the hydraulic pump 33 in operation which passes the oil contained in the tank 35 to said pump 33 which then sends the oil under pressure to the limiter 36 and, if the pressure is less than one threshold pressure, the hydraulic motor 22. At the output of the hydraulic motor 22, the oil at atmospheric pressure returns to the reservoir 35.
[0026] La pression du circuit haute pression 37 est ajustée pour ne pas dépasser 190 Bar. En cas de dépassement de cette pression de 190 Bar, un circuit de dérivation 39 entre le limitateur 36 et le réservoir 35 permet d'éviter d'endommager le moteur hydraulique 22. [0027] Le principal intérêt de mettre en œuvre un groupe hydraulique réside dans la possibilité d'agencer le moteur hydraulique 22 au plus près du système rotatif de grattage 30 et dans l'axe XX' du tambour 24, ceci étant rendu possible par l'utilisation de câbles flexibles au sein du groupe hydraulique ce qui permet d'éviter l'utilisation de systèmes de renvoi d'angle. [0028] En référence au figures 5 et 6, l'outil de grattage 40 est constitué d'une chaîne en acier 40' de grade compris entre 80 et 100 composé de trois maillons 41 de diamètre 8 millimètres et de longueur de 3 centimètres. Les trois maillons 41 sont solidarisés au tambour 24 au moyen d'une manille 42 en acier inoxydable de diamètre 10 millimètres qui est boulonnée sur le renfort 28a 1 en traversant l'orifice 28a2 correspondant. Un seul outil de grattage complet 40 est représenté sur les figures 5 et 6 mais il est entendu que le système rotatif de grattage 23 comporte trois outils de grattage 40 identiques à celui précédemment décrit, chaque outil 40 étant solidarisé à une ailette correspondante 28a.28b.28c. [0029] Lorsque l'outil de grattage 40 est tel que précédemment décrit, le tambour 24 est actionné en rotation par le moteur hydraulique 22 à une vitesse de 700 tours par minute. Ainsi agencé, chaque outil de grattage 40 s'étend perpendiculairement au tambour 24, ce qui permet ainsi de venir frapper la surface à nettoyer lorsque le tambour est entraîné en rotation par le moteur hydraulique et le tambour 40 positionner parallèlement à la surface à nettoyer. The pressure of the high pressure circuit 37 is adjusted to not exceed 190 Bar. If this pressure of 190 Bar is exceeded, a bypass circuit 39 between the limiter 36 and the tank 35 makes it possible to avoid damaging the hydraulic motor 22. The main advantage of implementing a hydraulic unit lies in the possibility of arranging the hydraulic motor 22 as close as possible to the rotary scraping system 30 and in the axis XX 'of the drum 24, this being made possible by the use of flexible cables within the hydraulic unit, which makes it possible to avoid the use of angle gear systems. Referring to Figures 5 and 6, the scraping tool 40 consists of a steel chain 40 'of grade between 80 and 100 consisting of three links 41 of diameter 8 millimeters and length of 3 centimeters. The three links 41 are secured to the drum 24 by means of a shackle 42 of stainless steel diameter 10 millimeters which is bolted to the reinforcement 28a 1 through the corresponding orifice 28a2. A single complete scraping tool 40 is shown in FIGS. 5 and 6, but it is understood that the rotary scraping system 23 comprises three scraping tools 40 identical to that previously described, each tool 40 being secured to a corresponding fin 28a.28b .28c. When the scraping tool 40 is as previously described, the drum 24 is rotated by the hydraulic motor 22 at a speed of 700 revolutions per minute. Thus arranged, each scraping tool 40 extends perpendicular to the drum 24, which thus makes it possible to strike the surface to be cleaned when the drum is rotated by the hydraulic motor and the drum 40 position parallel to the surface to be cleaned.
[0030] En référence à la figure 7, l'outil de grattage 40a peut alternativement être constitué d'une lamelle en résine 43 solidarisée par boulonnage au renfort 28a 1 de l'ailette 28a correspondante et positionnée ainsi également perpendiculairement au tambour 24. With reference to FIG. 7, the scraping tool 40a may alternatively consist of a resin lamella 43 secured by bolting to the reinforcement 28a 1 of the corresponding fin 28a and thus positioned also perpendicularly to the drum 24.
[0031] Bien que non représenté, l'outil de grattage 40,40a pourra être un câble en acier, une brosse ou encore une hélice circulaire. Il importe que l'outil de grattage présente à la fois une dureté suffisante pour gratter et retirer les salissures de la surface à nettoyer mais également une souplesse générale lui permettant de venir frapper sans se rompre contre la surface à nettoyer lorsque le tambour 24 est en rotation et positionné parallèlement à la surface à nettoyer. L'outil de grattage est de forme générale allongée et s'étend perpendiculairement ou sensiblement perpendiculairement au tambour 24. La longueur de l'outil de grattage 40,40a est également ajustée pour optimiser le nettoyage et est généralement comprise, en considérant l'extrémité libre de l'outil de grattage 40 jusqu'à la surface cylindrique du tambour 24, entre 10 et 20 centimètres. De façon plus générale, la longueur de l'outil de grattage est ajustée selon les frottements engendrés par les outils de grattage pour ne pas entraver la bonne rotation du tambour selon la capacité d'entraînement du moteur hydraulique. Although not shown, the scraping tool 40,40a may be a steel cable, a brush or a circular propeller. It is important that the scraping tool has both sufficient hardness to scrape and remove dirt from the surface to be cleaned but also a general flexibility to hit it without breaking against the surface to be cleaned when the drum 24 is in rotation and positioned parallel to the surface to be cleaned. The scraping tool is generally elongate in shape and extends perpendicularly or substantially perpendicular to the drum 24. The length of the scraping tool 40, 40a is also adjusted to optimize cleaning and is generally understood, considering the end. free of the scraping tool 40 to the cylindrical surface of the drum 24, between 10 and 20 centimeters. More generally, the length of the scraping tool is adjusted according to the friction generated by the scraping tools to not impede the good rotation of the drum according to the driving capacity of the hydraulic motor.

Claims

REVENDICATIONS
1. Unité de nettoyage submersible d'une structure sous-marine, entraînée par des moyens de propulsion et commandée à distance, caractérisée en ce qu'elle est équipée d'au moins un système rotatif de raclage (23) de salissures marines (13) présentes à la surface (10) de ladite structure sous-marine (11), qui comporte au moins un outil de grattage (40,40a) monté sur un tambour (24) dont l'axe longitudinal (XX') définit l'axe de rotation du dit système rotatif de raclage (23), et en ce que le tambour (24) est apte à être commandé en rotation et destiné à être positionné parallèlement à la surface à nettoyer. 1. submersible cleaning unit of an underwater structure, driven by means of propulsion and remotely controlled, characterized in that it is equipped with at least one rotating system for scraping (23) marine fouling (13). ) present on the surface (10) of said underwater structure (11), which comprises at least one scraping tool (40,40a) mounted on a drum (24) whose longitudinal axis (XX ') defines the axis of rotation of said rotary scraping system (23), and in that the drum (24) is rotatable and intended to be positioned parallel to the surface to be cleaned.
2. Unité de nettoyage selon la revendication 1 , caractérisé en ce qu'elle comporte un moteur hydraulique (22) qui est monté dans l'axe (XX') du tambour (24) au niveau de l'une (25) de ses deux extrémités (25,26) et alimenté par un groupe hydraulique (30) logé dans le châssis (15) de ladite unité de nettoyage (3). 2. Cleaning unit according to claim 1, characterized in that it comprises a hydraulic motor (22) which is mounted in the axis (XX ') of the drum (24) at one (25) of its two ends (25,26) and powered by a hydraulic unit (30) housed in the frame (15) of said cleaning unit (3).
3. Unité de nettoyage selon la revendication 2, caractérisée en ce le système rotatif de raclage (23) et le moteur hydraulique (22) s'étendent le long d'une extrémité transversale (12) du châssis (15) de l'unité de nettoyage (3). Cleaning unit according to claim 2, characterized in that the rotary scraping system (23) and the hydraulic motor (22) extend along a transverse end (12) of the frame (15) of the unit. cleaning (3).
4. Unité de nettoyage selon l'une quelconque des revendications précédentes, caractérisée en ce que plusieurs outils de grattage (40,40a) sont agencés le long du tambour (24) du système rotatif de raclage (23). 4. Cleaning unit according to any one of the preceding claims, characterized in that a plurality of scraping tools (40,40a) are arranged along the drum (24) of the rotary scraping system (23).
5. Unité de nettoyage selon la revendication 4, caractérisée en ce que chaque outil de grattage (40,40a) est solidarisé à une ailette respective (28a,28b,28c) qui est agencée sur au moins une partie de la périphérie dudit tambour (24) et qui comporte une zone de renfort (28a1 ,28b1) au niveau de laquelle le dit outil de grattage (40,40a) est monté traversant. 5. Cleaning unit according to claim 4, characterized in that each scraping tool (40,40a) is secured to a respective fin (28a, 28b, 28c) which is arranged on at least a part of the periphery of said drum ( 24) and which has a reinforcing zone (28a1, 28b1) at which said scraping tool (40,40a) is mounted through.
6. Unité de nettoyage selon l'une quelconque des revendications 4 et 5, caractérisée en ce que le système rotatif de grattage (23) comporte trois outils de grattage (40) montés le long du tambour (24), les trois outils de grattage (40) étant solidarisés au tambour (24) en étant positionnés en décalage angulaire de 120°sur ledit tambour (24). 6. Cleaning unit according to any one of claims 4 and 5, characterized in that the rotary scraping system (23) comprises three scraping tools (40) mounted along the drum (24), the three scraping tools (40) being secured to the drum (24) being positioned at an angular offset of 120 ° on said drum (24).
7. Unité de nettoyage selon l'une quelconque des revendications précédentes, caractérisée en ce que chaque outil de grattage (40) est constitué d'une chaîne métallique (40'). 7. Cleaning unit according to any one of the preceding claims, characterized in that each scraping tool (40) consists of a metal chain (40 ').
8. Unité de nettoyage selon la revendication 7, caractérisée en ce que la chaîne métallique (40') comporte trois maillons (41) en acier de grade compris entre 80 et 100, chaque maillon (41) présentant une longueur comprise entre 1 et 5 centimètres et une section comprise entre 6 et 10 millimètres, et en ce que la vitesse de rotation du tambour est comprise entre 500 et 900 tours par minute. 8. Cleaning unit according to claim 7, characterized in that the metal chain (40 ') comprises three links (41) steel grade between 80 and 100, each link (41) having a length between 1 and 5 centimeters and a section between 6 and 10 millimeters, and in that the speed of rotation of the drum is between 500 and 900 revolutions per minute.
9. Ensemble de nettoyage submersible d'une structure sous-marine, caractérisé en ce qu'il comporte une unité de nettoyage (3) selon l'une quelconque des revendications 1 à 8 qui est solidarisée à un robot sous-marin (2) muni notamment de moyens de propulsion et de moyens de captation, et commandé à distance. 9. submersible cleaning assembly of an underwater structure, characterized in that it comprises a cleaning unit (3) according to any one of claims 1 to 8 which is secured to an undersea robot (2) equipped in particular with propulsion means and capturing means, and controlled remotely.
10. Ensemble de nettoyage selon la revendication 9, caractérisé en ce que l'unité de nettoyage (3) est montée sous le robot sous-marin (2). 10. Cleaning assembly according to claim 9, characterized in that the cleaning unit (3) is mounted under the subsea robot (2).
11. Ensemble de nettoyage selon l'une quelconque des revendications 9 et 10, caractérisé en ce qu'il comporte une unité de nettoyage (3) selon l'une quelconque des revendications 2 à 8 pour laquelle le groupe hydraulique est alimenté électriquement par le circuit électrique (9) du robot sous-marin (2). 11. cleaning assembly according to any one of claims 9 and 10, characterized in that it comprises a cleaning unit (3) according to any one of claims 2 to 8 for which the hydraulic unit is electrically powered by the electric circuit (9) of the underwater robot (2).
PCT/FR2016/051969 2015-07-31 2016-07-28 Unit for cleaning underwater structures and associated submersible cleaning assembly WO2017021627A1 (en)

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CN113110531A (en) * 2021-04-19 2021-07-13 飞马滨(青岛)智能科技有限公司 Automatic wall-adhering method for underwater robot and ship to be washed

Families Citing this family (1)

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CN118144948B (en) * 2024-03-12 2024-08-13 北京琨毅科技有限公司 Underwater walking device

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WO2010048038A2 (en) * 2008-10-20 2010-04-29 Shell Oil Company Methods and devices for cleaning subsea structures using ultrasound

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US487198A (en) * 1892-11-29 Apparatus for cleanxng shipsj bottoms
US769434A (en) * 1903-12-28 1904-09-06 James Forrest Device for cleaning bottoms of ships.
WO2010048038A2 (en) * 2008-10-20 2010-04-29 Shell Oil Company Methods and devices for cleaning subsea structures using ultrasound

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Publication number Priority date Publication date Assignee Title
CN113110531A (en) * 2021-04-19 2021-07-13 飞马滨(青岛)智能科技有限公司 Automatic wall-adhering method for underwater robot and ship to be washed
CN113110531B (en) * 2021-04-19 2021-11-12 飞马滨(青岛)智能科技有限公司 Automatic wall-adhering method for underwater robot and ship to be washed

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