System for repair and servicing of underwater production complexes in ice conditions

FIELD: transport.

SUBSTANCE: proposed system comprises carrier craft to be submerged from support vessel which is equipped with underwater robot connected with said surface support vessel via power cable, control cable and preventer. Driving ballast tanks shaped to circular sectors in plan and provided with vent valves arranged at their top part and sea grates at their bottom and equalising ballast tanks are additionally incorporated with this system. Said tanks are interconnected by rigid split fasteners in perimeter of their adjacent surfaces to make a circular hull of underwater carrier craft and spaced apart by, primarily, equal spacings and are located equidistant from said circular hull centre. Carrier craft is equipped with compressed air cylinders, manipulators, their control unit and propulsion-steering complex composed by rotary propulsors with drives, compressed air systems and equalising ballast. Support vessel hull has underwater carrier craft and robot up and don silo.

EFFECT: enhanced operating performances.

5 cl, 6 dwg

 

The invention relates to the field of shipbuilding, and more specifically to means for the maintenance and repair of subsea production systems and delivery of technological equipment on Board surface providing a vessel to the bottom of the waters, and can be used to create underwater vehicles for work on subsea production complexes in Arctic ice conditions.

Known two-tier system uninhabited device carrier and an underwater robot (D. C. Voitov. Remote uninhabited underwater vehicles + SD. M, Mornnig, 2012, page 56), consisting installed on ensuring a vessel of deep-water immersion and remote uninhabited underwater vehicles (underwater robot), which after a descent in a submerged position out of the "garage" that is installed on the device deep dive (the machine-storage medium) to perform inspection or process operations. The proposed system is effective for inspections, repairs, and maintenance of underwater equipment, because it extends the functionality of each apparatus (apparatus a carrier and an underwater robot).

However, this system suffers from the following disadvantages. The device deep dive, being spokeman the providing of the vessel, has no maneuvering qualities required for horizontal movement in the water. While being transported through the device deep dive (device-media) remote-controlled underwater vehicle must combine all functions, including maneuvering and performing technological operations on subsea production systems. Such a combination of functions overloads remote-controlled underwater vehicle by placing additional technical means, reducing its payload.

Another disadvantage of the system is the impossibility of using it by the delivering freight (replaced during repairs of technological equipment) surface providing a vessel on the bottom plate of the subsea production system, because, as noted above, the device deep dive has no maneuvering qualities, and placed on it an underwater robot is not a cargo unit. Easy descent of technological equipment on the bottom plate of the subsea production system is possible in this case (in the absence of horizontal maneuvering) only when accurate positioning providing a vessel on underwater mining complex. However, such positioning is not possible or is very difficult ice conditions and with Asano with large financial and time costs.

These issues are partially resolved at the famous Shuttle system BOXFISH, designed for work on subsea production complexes (D. C. Voitov. Remote uninhabited underwater vehicles + SD. M, Mornnig, 2012, page 50). In this system an underwater remotely operated vehicle Shuttle (vehicle carrier), with its own propulsion system, is a carrier of a remote control apparatus robots, transports, and releases it on the underwater terminal (underwater mining complex) prototype. The known system provides maneuvering the Shuttle apparatus in the waters. The disadvantage of this system is the lack of versatility, as it is intended only for the delivery of an underwater robot and is not intended for delivery and unloading replacement of technological equipment on the subsea production system, as well as return shipping on providing the vessel with subsea production system replacement equipment when performing repairs.

The task of the invention is to remedy these disadvantages, namely improving the efficiency of the system by expanding its operational capabilities when operating in ice conditions.

This is achieved by a system for providing maintenance and repair of subsea developments in the ice the new conditions, containing descent with providing ship submersible vehicle with the installed underwater robot that is associated with the surface providing the ship with a power cable, control cable and tether, according to the invention is introduced in the form of annular sectors in terms of the tank main ballast valve ventilation in the upper part thereof and the Kingston bars at the bottom and the surge tank ballast. Moreover, these tanks are connected to each other by means of a rigid detachable fasteners around the perimeter of their adjoining surfaces, thereby forming the annular housing of the submersible vehicle and are circumferentially alternately, mostly evenly spaced and equidistant from the centre mentioned annular housing. In this apparatus, a carrier equipped with cylinders of compressed air, manipulators, power management and propulsion and steering system consisting of rotary propulsion devices with drives, compressed air systems and balancing ballast. Moreover, in the housing providing a vessel made mine for lowering and lifting the submersible carrier together with underwater robot or with equipment of the subsea production system.

In addition, the compressed air system is designed as concentric on th the th relative to the annular housing of the submersible carrier reservoir of compressed air, connected to cylinders of compressed air to the tank main ballast valves. System balancing ballast submersible carrier is made in the form of a closed ring water pipe, which is integrated pump and shutoff valve, and a closed air piping with built-in shutoff valves, and referred to the piping connected to the surge tank through ballast control valves.

However manipulators with power drives made in the form of the multi-link mechanism with articulated connections at the boundaries of the units, including their attachment to the hull of the submersible carrier and gripper on the opposite end, and the links made with telescopic power actuators for changing the length and orientation in space.

Along with this propulsion devices distributed around the circumference of the annular housing of the submersible vehicle and connected with it by swing arms, hinged to the annular body and configured to rotate from the lower position at the top with a drive, and on the swivel bracket propulsion devices mounted on their free ends can be rotated around the longitudinal axis of the brackets with the help of drive rotation.

Cu is IU, underwater robot in the underwater transport position is installed in the annular space submersible carrier and rigidly connected with the latter through its manipulators.

The introduction of the submersible vehicle in the form of annular sectors tank main ballast valve ventilation in the upper part thereof and the Kingston bars at their lower end and surge tanks ballast, connected in series with each other using rigid detachable fasteners around the perimeter of their adjacent surfaces and arranged alternately, mainly with equal intervals circumferentially equidistant from the center of the ring body with the formation thereby annular casing submersible carrier, provides for the formation of the design of the submersible vehicle in which the tank, forming a circular casing, when the damage can be replaced, and transported underwater robot or equipment subsea production system protected the annular housing of the submersible vehicle from accidental mechanical damage that extends the capabilities of the submersible vehicle and the system as a whole.

Equipment submersible carrier cylinders of compressed air, manipulators, power management and propulsion-relevancellc.com, consisting of a rotary propulsion devices with drives, compressed air systems and balancing ballast helps to ensure quality maneuverable underwater vehicle carrier in a submerged position horizontally and vertically.

Running mine on providing a vessel for lowering and lifting the submersible carrier together with underwater robot or equipment subsea production system forms a system in which the device carrier is protected from ice and Mitrofanovich impacts within the shaft for supporting the vessel at the time of its loading equipment or underwater robot and preparing to dive.

Perform a compressed air system in the form of concentrically located relative to the annular housing of the submersible carrier reservoir of compressed air connected to cylinders of compressed air to the tank main ballast valves, and system balancing ballast submersible carrier in the form of a closed ring water pipe, which is integrated pump and shutoff valve, and a closed air piping with built-in shut-off valve connected to the surge tank through ballast control valves, provides static equilibrium submersible vehicle in any condition useful the load (with underwater robot or technological equipment), that extends the capabilities of the submersible vehicle and the system as a whole.

Execution of manipulators with a power actuator in the form of a multi-link mechanism with articulated connections at the boundaries of the units, including their attachment to the hull of the submersible carrier and gripper on the opposite end, made telescopic power actuators for changing the length and orientation in space, provides a deduction in the underwater transport position manipulators submersible carrier underwater robot or unlimited items potentially relevant to the subsea equipment, which expands the capabilities of the specified device.

Connection propulsion device with the annular housing of the submersible vehicle by means of a swivel bracket pivotally secured to the ring body and configured to rotate from the lower position at the top with a drive mounted on the free ends of the arms can be rotated around the longitudinal axis of the brackets with the help of drive-turn, assures proper orientation of the propulsion devices in space and, accordingly, the commanded direction of thrust each propulsion device comprising propulsion is about complex, that extends the capabilities of the submersible vehicle and the system as a whole.

Installation of an underwater robot or equipment subsea production system in the underwater transport position in the annular space of the submersible vehicle and a fixed connection with the submersible vehicle manipulators last provides protection roaming on the sub-media object from mechanical damage, while discharging a floating object on the bottom plate of the subsea production system is limited to simple removing manipulators submersible carrier without additional lifting and transport operations, which improves the operational readiness of the submersible vehicle and the system as a whole.

The essence of the invention is illustrated by drawings, where Fig.1 shows a system for providing maintenance and repair of subsea production systems in General, Fig.2 - the sub-carrier in plan with the conveyed object, and Fig.3 - section a-a in Fig.2, in Fig.4 - section b-B in Fig.2 and in Fig.5 and 6 shows the system of the submersible vehicle.

System for providing maintenance and repair of subsea developments in ice conditions (Fig.1) includes providing a vessel 1 acquoni the shaft 2, built between the upper deck 3 and bottom 4 of the vessel. In the through shaft 2 is placed underwater vehicle carrier 5. Underwater vehicle carrier 5 (Fig.2) contains a circular casing 6 formed by the tank main ballast 7 and surge tanks ballast 8. In the upper part of the tank main ballast 7 installed valves ventilation 9, and in the lower parts - Kingston grating 10. On the annular housing 6 hinged brackets 11 with the actuator 12 (Fig.2 and 4), on the free ends of which are pivotally mounted to rotate around the longitudinal axes of the brackets 11 propulsion device 13 drives rotation 14. On the annular housing 6 is pivoted the arms 15 (Fig.2 and 3) in the form of a multi-link mechanism with telescopic links 16 and the gripping devices 17. Cylinders of compressed air 18 and the control unit 19 (Fig.1) rigidly connected with the annular body 6 underwater vehicle carrier 5. On the annular housing 6 underwater vehicle carrier 5 is installed compressed air system (Fig.5) in the form of a manifold 20 connected to the main tank ballast 7 through valves 21 and to cylinders of compressed air 18. In the annular space of the annular housing 6 (Fig.2, 3) is transported object 22 (underwater robot or equipment subsea production system) and is connected with a ring to posom 6 by means of gripping devices 17 on the arms 15. On the annular housing 6 underwater vehicle carrier 5 a system balancing ballast (Fig.6) in the form of an annular water manifold 23 and the air collector ring 24. In the annular water manifold 23 is integrated pump 25. Annular water manifold 23 is equipped with a shut-off valve 26. Mentioned manifolds 23 and 24 are connected to the surge tank ballast 8 through the control valves 27 and 28.

The system works as follows. In the initial state of the surface providing the vessel 1 (Fig.1) is installed near to the bottom plate 29 of the subsea production system 30. The sub-carrier 5 with the help of ship's lifting mechanisms (not shown) is lowered through the shaft 2 provides the vessel 1 and is set afloat when blown (air-filled) tank main ballast 7 (Fig.2) Underwater robot (the transported object) 22 marine lifting mechanisms (not shown) is lowered through the shaft 2 and is installed in the annular space underwater vehicle carrier 5 by capturing underwater robot 22 manipulators 15 underwater vehicle carrier 5. Next is the alignment of the landing underwater vehicle carrier 5 with the installed underwater robot 22 by changing the position of an underwater robot 2 inside the annular space underwater vehicle carrier 5 with the use of manipulators 15, controlled by the control unit 19. This operation is performed automatically, accompanied by continued retention of an underwater robot 22 of the gripping devices 17 of the handles 15 and ends with the elimination of inclinations underwater vehicle carrier 5. Thus, in the static surface position before diving underwater vehicle carrier 5 together with a fixed underwater robot 22 is fully balanced. The sub-carrier 5 is connected with providing the vessel 1 through a safety cable, power cable and control cable (not shown). By partially filling the fresh water tank main ballast 7 sub-carrier 5 acquires a slightly negative buoyancy, and exits through the shaft 2 through the opening in the base plate 4 provides the vessel 1 and is immersed to a depth of precluding accidental mechanical contact with providing the vessel 1. This automatically restored and maintained zero buoyancy by adjusting the amount of water in the tank main ballast 7 by supplying air from cylinders of compressed air 18 through a compressed air header 20 or bleed air from the main tank ballast 7 through the valve ventilation 9. Further, all propulsion device 13 automatically set in position, ensuring the e desired direction of thrust for maintaining the predetermined trajectory, defined mutual position of the underwater vehicle carrier 5 and the bottom plate 29 of the subsea production system 30. The orientation of the propulsion device 13 is continuously monitored and adjusted automatically by the control unit 19 via the actuators 12 and 14. The changing orientation of the propulsion device 13 in the space in a static position accompanied by a breach of static equilibrium underwater vehicle carrier 5. When moving underwater vehicle carrier 5 may also be in violation of its balance due to the resultant of the applied forces. These disturbances are compensated by the system balancing ballast in the form of water 23 and air 24 collectors in conjunction with the surge tank ballast 8. In the initial position each surge tank ballast 8 underwater vehicle carrier 5 half-filled with air and half water. If you need to restore the balance underwater vehicle carrier 5 water through the water manifold 23 by pump 25 is redistributed between the surge tank ballast 8 and the air manifold 24 is reversed, the movement of air in the system balancing ballast, replacing water pumped by the pump 25. Stop 26 and regulatory 27, 28 provide the directional valve re edenia water and air in a desired combination of surge tanks ballast 8 with the appropriate dosage with the help of the control valves 27 and 28. After reaching the sub-carrier 5 the bottom plate 29 of the subsea production system 30 underwater vehicle carrier 5 hangs over the bottom plate 29 with a small positive buoyancy, excluding the impact of his about the specified bottom plate 29. Further lowering of the submersible carrier 5 with the conveyed object 22 on the bottom plate 29 is supported by a propulsion device 13. After reaching the stationary contact underwater vehicle carrier 5 with a bottom plate 29 automatic control system gives a submersible vehicle 5 expressed negative buoyancy by submitting outboard water through the Kingston grating 10 in the tank main ballast 7 with open valves ventilation 9 of these tanks, the value of which is commensurate with the weight of the transported object 22 (in this case - an underwater robot) in order to avoid uncontrolled ascent underwater vehicle carrier 5 with possible damage to technical equipment when removing the transported object 22 from the underwater vehicle carrier 5. Next, the transported object 22 remotely by the operator providing the vessel 1 through the control unit 19 is lowered by the arms 15 to the level of the bottom plate 29 and is released from the hooks 17 on the arms 15. When the transported object 22 ocas is provided mounted on the bottom plate 29 in the annular space underwater vehicle carrier 5. Further separation of the transported object 22 with sub-carrier 5 is provided a controlled ascent of the latter. Managed the ascent underwater vehicle carrier 5 is made by means of the propulsion device 13 in the automatic mode, controlled by the control unit 19. Ascent underwater vehicle carrier 5 ends with his entrance into the through shaft 2 for supporting the vessel 1. While the sub-carrier remains afloat inside the through shaft 2 and prepared for the adoption of the following units transported the equipment for repair of the subsea production system 30. All operations of dismantling and installation of equipment subsea production system 30, as well as the transfer of technological equipment within the bottom plate 29 is provided an underwater robot 22, which has a pronounced negative buoyancy. Repair of the subsea production system 30 is completed after delivery to ensure the vessel 1 first smestorage technological equipment, and then an underwater robot 22 through underwater vehicle carrier 5. The specified callback delivery is carried out in reverse order with respect to the described above.

The proposed system for the maintenance and repair of subsea developments in ice conditions the possession is t increased efficiency in comparison with the prototype in connection with the expansion of operational capabilities when operating in ice conditions, what distinguishes it from the prototype.

1. System for providing maintenance and repair of subsea developments in ice conditions, containing lowered with providing ship submersible vehicle with the installed underwater robot that is associated with the surface providing the ship with a power cable, control cable and tether, characterized in that its composition is introduced in the form of annular sectors in terms of the tank main ballast valve ventilation in the upper part thereof and the Kingston bars at the bottom and the surge tank ballast, and these tanks are connected to each other by means of a rigid detachable fasteners around the perimeter of their adjacent surfaces, thus forming a circular casing submersible carrier and are circumferentially alternately, mostly evenly spaced and equidistant from the centre mentioned annular housing, and the device carrier is equipped with cylinders of compressed air, manipulators, power management and propulsion and steering system consisting of rotary propulsion devices with drives, compressed air systems and balancing ballast and the housing providing a vessel made mine for lowering and lifting submersible-wear the El together with underwater robot or with equipment of the subsea production system.

2. System for providing under item 1, characterized in that the compressed air system made in the form of concentrically located relative to the annular housing of the submersible carrier reservoir of compressed air is connected via valves to cylinders of compressed air to the tank main ballast and system balancing ballast submersible carrier consists of a closed ring water pipe with built-in water pump and shut-off valve and a closed air piping with built-in shut-off valve is connected through a regulating valve to the surge tank ballast.

3. System for providing under item 1, characterized in that the manipulators submersible carrier is made in the form of a multi-link mechanism with articulated connections at the boundaries of the links for attaching them to each other and to the body of the aircraft carrier, and with gripping devices at opposite ends of the manipulators, and the links made telescopic and are equipped with actuators for changing the length and orientation in space.

4. System for providing under item 1, characterized in that the propulsion device submersible carrier connected with its annular body by a hinge attached to the chassis brackets are installed with the possibility of the awn of rotation from the lower position at the top with a drive, at the free end of which is placed propulsion device mounted with the possibility of rotation around the longitudinal axis of the bracket with the drive.

5. System for providing under item 1, characterized in that the underwater robot in the underwater transport position is installed in the annular space of the submersible vehicle and still connected with him through his manipulators.



 

Same patents:

Submariner base // 2539610

FIELD: transport.

SUBSTANCE: invention relates to ship-building, specifically to enterprises intended for basing, technical inspection and renovation of vessels, as well as for initial operations connected with hydrocarbon production. Base of underwater oil-producing fleet includes administration and on-site facilities, dock, osmotron, railway station, airport with helipad. Dock is made with possibility of technical inspection of underwater vehicles which produce oil under drifting ice and represents transshipment point when oil is delivered by radio-controlled raiders in meshy containers which fill polymeric reservoirs with oil on dry-cargo vessels to deliver containers to oil refineries. Dock roof is equipped with snow-saving canisters from which melt-water can be used to raise water level in separate compartments of dock and to generate electric energy in hydraulic turbine.

EFFECT: base for underwater oil-producing fleet is organized to provide vessel technical inspection, crew rotation, replenishment of completion materials and to serve as transshipment point when oil is delivered by raiders to dry-cargo vessels.

8 dwg

FIELD: transport.

SUBSTANCE: invention relates to shipbuilding and can be used during submarine manoeuvring. Method for improvement of submarine mobility is proposed which submarine includes main submarine hull with screw propeller in its aft and with crew, which is functionally linked by docking unit with auxiliary submarine with remote control and screw propeller, herewith, functional link of main submarine hull docking unit is positioned from beneath of fore end of main submarine hull which is made in the form of cylinder, and docking unit is made with possibility of turning, and its lower end is fixed from above of middle part of auxiliary submarine hull so that it could be turned manoeuvring.

EFFECT: improvement of submarine mobility characteristics.

2 cl, 4 dwg

FIELD: electricity.

SUBSTANCE: invention is related to naval electronic equipment to be used at perspective non-nuclear submarines. The electric power system comprises an accumulator battery, two diesel generating sets, distribution boards, control switchboard with switching and protecting equipment, and electric propulsion system. The accumulator battery is made as lithium ion battery, and its each group is divided into semi-groups. The semi-groups are connected to the power system through doubled automatic circuit breakers. The distribution boards are connected to semi-groups of the lithium ion battery through diode isolation. The electric propulsion system is made as all-mode electric propulsion system consisting of a propulsion motor and its power supply system, bypass power diodes are also installed in it and the system is connected to the power line by these diodes.

EFFECT: increasing sea endurance of a submarine and providing reliable power supply of essential systems.

1 dwg

FIELD: electricity.

SUBSTANCE: electric power system comprises an accumulator battery, two diesel generating sets, two electrochemical generators, an automatic circuit breaker, electric propulsion system, control boards with switching and protective gear and switchboards. The electric propulsion system is made as all-mode electric propulsion system consisting of a propulsion motor and its power supply system, bypass power diodes are also installed in it and the system is connected to the power line by these diodes. The accumulator battery consists of two groups; each group is coupled to the power mains through automatic circuit breakers at the accumulator battery boards. The accumulator battery is made as a lithium-ion rechargeable cell; each group is divided into subgroups and connected to the power mains through double automatic circuit breakers. The distribution boards are connected to semi-groups of the lithium ion battery through diode isolation.

EFFECT: increased sea endurance of a submarine.

1 dwg

FIELD: transport.

SUBSTANCE: invention relates to shipbuilding and concerns submarine operation. Method for submarine manoeuvrability improvement is suggested. The submarine includes hull of the main submarine with crew and screw propellers. The main submarine is functionally linked by docking unit with auxiliary submarine having remote control and motion screw. Screw propellers of the main submarine are positionally located at an angle of 120 relative to each other in the aft part of the main submarine hull for manoeuvring. Functional linkage of main submarine docking unit is positionally located in its aft part and temporarily fixed with fore part of auxiliary submarine for subsequent uncoupling in case of missile attack danger. Aft part of the main submarine and middle part of auxiliary submarine are temporarily - up to the moment of missile attack danger occurrence - fixed by streamlined device with conical surface.

EFFECT: improvement of submarine mobility characteristics.

2 dwg

FIELD: transport.

SUBSTANCE: invention relates to underwater automatic and remote-control manned and unmanned low-speed submersibles for development of global ocean. Proposed chamber comprises flexible shell filled with gas via feed and exhaust lines and shell folding device. Flexible shell is arranged between top and bottom platforms connected be their edges with the help of sheet springs and hinges while at their centre parts resilient belted-bias hoses are arranged between said top and bottom platforms in hydraulic or pneumatic version.

EFFECT: fast surfacing or diving of submarine.

3 cl, 4 dwg

FIELD: transport.

SUBSTANCE: submarine comprises hull, tanks to be filled with outboard water or air to vary submarine floatage. For cruising under ice in shallow water this submarine has flat hull or catamaran hull equipped with two parallel skids made along upper part for protection against contact with ice, emergent deceleration and anchorage.

EFFECT: improved usability.

FIELD: transport.

SUBSTANCE: invention relates to improvement of mobility of submarine including cylindrical hull with several propelling screws. Note here that said several propelling screws are composed of multiturn spiral or auger. It is positioned and locked at submarine bow bottom part to run in sector relative to submarine hull axial plane.

EFFECT: improved mobility.

3 dwg

FIELD: transport.

SUBSTANCE: invention relates to improvement of mobility of submarine. It comprises the primary submarine hull with crew and propelling screws at stern the front part of which is coupled with rear end of extra remote-control submarine. Primary submarine fore part is combined and shaped to hemisphere aligned by conical part with its front part. Said fore part is arranged inside its hemispherical part accommodating the coupler to turn in whatever direction relative to the primary submarine axis. Extra submarine inner conical part is secured to said coupler, by conical part base there inside, for joint turn in whatever direction.

EFFECT: improved mobility.

3 dwg

FIELD: transport.

SUBSTANCE: invention relates to ship building. It comprises the primary submarine hull with crew and propelling screws at stern the front part of which is coupled with rear end of extra remote-control submarine. Primary submarine device coupling it with extra submarine aft is composed by cable. One end of said cable is secured at the primary submarine fore part at pivot pin while opposite end is secured inside extra submarine in its mirror axis. Said coupler represents a swivelling device. Propelling screws are arranged at 120 degrees relative to each other at extra submarine mid hull for mobility.

EFFECT: improved mobility.

4 dwg

FIELD: transport.

SUBSTANCE: invention relates to surveying sunk ships by unmanned submersible craft at heavy sea currents. Proposed method comprises retention of unmanned submersible craft nearby bottom by artificial support. Rope is secured to small vessel anchor to fit sliding loop of strong material thereon to be connected by short sling to submersible craft hull. Ship anchor rope is hauled up and down (apeak).

EFFECT: sweep and survey of sunk ships without divers at sea currents.

1 dwg

FIELD: transport.

SUBSTANCE: invention relates to hardware for survey of underwater environments. Proposed system uses guided missile as a delivery vehicle. Missile head accommodates detachable container with radio-sono buoy (RSB), detachable container with explosive sono source charge (ESS) and device for their forced propagation. Aboard the ship (command post) arranged are fire control hardware, launcher, RSB signals receiver, computer to define coordinates of underwater objects, operator board and monitor to display underwater environments in RSB area and to gain info. This system allows surface ships to deliver, on one's own and quickly, the container (containers) with RSB and ESS to preset area, to install them to gain info on underwater environments therefrom.

EFFECT: single-shot high-accuracy setting of RSB and ESS.

5 dwg

FIELD: transport.

SUBSTANCE: invention relates to vessels for oceanographic research and geological survey, repair, installation and operation of under equipment. Proposed vessel is equipped with nuclear reactor, motors, propeller shafts, maneuvering propulsion devices, extending wheels, airports, external illumination system, TV cameras, gripping manipulator, bucket of specimens and auxiliary appliances, complex of electronic, computer and hydroacoustic hardware for navigation, communication, detection and identification of underwater objects, and those to surface objects communicated with means for processing, documenting and storing measured parameters of vessel motion and those of underwater surroundings. Aforesaid bucket is equipped with electronic, computer and hydroacoustic hardware communicated with data processing system.

EFFECT: expanded operating performances.

1 dwg

FIELD: transport.

SUBSTANCE: invention relates to ship raising from deep sea. Proposed gas generator features disc shape and consists of metallic rim with grating composed of plates with slots. Flexible air passage tube is fitted into rim bottom part. Stiff plates are fitted over aforesaid plates on rim both sides and provided with perforations covered by gastight membrane. Device for raising ships comprises soft pontoon arranged in water vertically with open bottom part and top part furnished with cylindrical soft vessel. Gas generator is suspended under pontoon and has gas discharge tube secured to pontoon inner wall. Thin-wall insert us arranged inside said pontoon. Pontoon bottom part accommodates slings and two hooks. Proposed method consists in that said pontoon with suspended gas generator is secured to hulk-ship boom and slings with hook and connecting pontoon bottom with sinking cargo to be downed to sunken ship level. Deep-diving vehicle manipulator catches another hook to fit it in rod device ear, said rod device being pre-mounted on sunken ship. Said sinking cargo is lifted by hulk-ship to allow pontoon first hook cable to be stretched to release the second hook. Deep-diving vehicle disconnects free hook from sinking cargo. Hulk-ship crane lifts it to surface for connection with the next pontoon.

EFFECT: raising whatever objected from whatever depths.

3 cl, 2 dwg

FIELD: transport.

SUBSTANCE: invention relates to remote control robotised measuring and actuating systems. Proposed system comprises underwater system composed of remote control carrier to be operated in two media and equipped with hold-down screw propellers to hold down said carrier in underwater operations. Said carrier allows accommodating, at least, one independent device composed of manipulation module, and/or inspection module, and/or working module.

EFFECT: robotised operation, higher safety.

14 cl

FIELD: transport.

SUBSTANCE: invention relates to remote control robotized measuring and actuating systems to be used at oil and gas sea fields. Proposed complex comprises underwater system composed of remote control carrier to be operated in two media and equipped with hold-down screw propellers to hold down said carrier in underwater operations. Wheel-caterpillar propulsors are secured on platform to allow its motion of surface, including, zone of variable wetting. Platform comprises navigation means to allow accurate positioning, illuminators, dampers of cable system transmitting electric power and data. Proposed complex comprises driven winches equipped with self-contained control system and cable system transmitting electric power and data.

EFFECT: robotised operation, higher safety.

2 cl

FIELD: transport.

SUBSTANCE: invention relates to underwater works for seafloor sounding in order to perform bottom shaping, pipeline laying-out with binding to geographical coordinates, revelling sludged objects. Towed underwater vehicle is equipped with hydroacoustic equipment and made as hollow cylindrical housing with removable head and tail fin, provided with penetrating device and equipped with parametrical profile recorder and control and computation module, and is connected with towing vessel by strength-power communications cable. Stabilising fin consists of two planes forming X-shaped structure. Penetrating device is made as horizontal wing and two vertical wings mounted on half-axles located in transversal plane relative to cylindrical housing. On the horizontal wing, towing assembly with sealed connector for strength-power communications cable attachment is installed. Here, hydrodynamic penetrator is installed. In the lower part of cylindrical housing in niche, crate with parametrical profile recorder elements attached to it is mounted. Hydroacoustic equipment includes parametrical profile recorder, consisting of emitting parametrical pumping antenna and receiving antenna, facilities for processing and recording hydroacoustic signals.

EFFECT: increased reliability of underwater objects detection due to higher accuracy of towed underwater vehicle orientation.

2 cl, 8 dwg

FIELD: physics, acoustics.

SUBSTANCE: invention relates to hydroacoustic equipment and can be used as part of diving equipment. The apparatus has a sealed housing in which there is an antenna unit, a radiated signal generating unit, a received signal processing unit, as well as an acoustic image graphic display connected by a cable line to the output of the received signal processing unit. The antenna unit has, in one plane perpendicular to the longitudinal axis of the sealed housing, radiating and receiving multi-element arrays in form of mutually perpendicular lines. The radiated signal generating unit has series-connected generator, tapped delay line and multichannel amplifier whose output is connected to the radiating multi-element array. The received signal processing unit has, connected in series to the output of the receiving antenna array, a receiving multichannel amplifier, an analogue-to-digital converter, a beam pattern former and a correlation function calculating unit whose second input is connected to the output of the generator. The acoustic image graphic display unit has a video controller connected by a cable line to the output of the correlation function calculating unit, a graphic display connected to the output of the video controller, and a control panel connected to the input of the video controller.

EFFECT: invention improves quality of images of underwater objects and enables to view the surrounding underwater space for every cycle of operation on all three coordinates within given boundaries.

2 dwg

FIELD: transport.

SUBSTANCE: invention relates to remote examination of sea bottom and underwater structures of natural and man-made origin, as well as repair, rescue and the kike jobs, Transformable platform is made up base structure modules to allow mounting of preset configuration platform and functional modules arranged on said structure. Every module comprises motor, manipulator or rotary mechanism to vary geometry of transformable platform, all arranged on one end of the module, as well as the system of module floatability controlled variation. Robotic complex for underwater jobs comprises self-propelled surface carrier of robotic platform and immersible transformable platform.

EFFECT: higher safety and efficiency.

13 cl

FIELD: transport.

SUBSTANCE: invention relates to ship building. Unmanned submarine (US) is intended for patrolling local underwater areas and primary inspection of detected objects. US comprises two propulsors, one representing variable-pitch cruising propeller with axis located along submarine waterline. Second propulsor actuates only at speed drop to very low magnitude and complete stoppage and represents variable-pitch propeller with axis located perpendicular to submarine waterline. At cruising speed, the latter does not work and represents x-like system of horizontal controlled rudders.

EFFECT: higher maneuverability at low speeds, reduced noise.

7 dwg

FIELD: timber industry.

SUBSTANCE: invention relates to devices to designed for detecting of sinken objects on large area and accurately aiming of load-gripping mechanism at sinken underwater object (log) at limited and even zero visibility and it can be used at timber rafting and loose floating for lifting sinken logs and bottom deepening works. Proposed device includes clamshell, echo sounder transmitter, signal processing unit and display. Echo sounder transmitter is installed directly on curvilinear shell of load-gripping mechanism with possibility of propagation of area of its signal in form of cone with peak in transmitter both to side from load-gripping mechanism and in one direction with its working area making it possible for operation to find sinken logs at a distance and provide accurate aiming of clamshell at sinken log basing of image formed on display of echo sounder as result of processing of echo signal.

EFFECT: enlarged range of operations performed by load gripping device, provision of convenient operation.

3 dwg

Up!