A method of controlling an autonomous underwater vehicle, AUV, when the AUV is cruising along a subsea surface is disclosed. The method comprises: monitoring a position of the AUV (100) by directing a laser beam from a laser interferometry sensing device (136) to the subsea surface (2); determining a visibility below the AUV (100); and controlling a cruising height o the AUV (100) relative to the subsea surface (2) based on the visibility.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
37 - Services de construction; extraction minière; installation et réparation
39 - Services de transport, emballage et entreposage; organisation de voyages
40 - Traitement de matériaux; recyclage, purification de l'air et traitement de l'eau
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Machines and machine tools for the processing and
manufacturing of materials; motors and engines [except for
land vehicles]; machine coupling and transmission
components, except for land vehicles; machines and machine
tools for use in the installation and construction of subsea
installations; machines and machine tools for use in
connection with installation, construction, maintenance or
repair of subsea installations; machines for use in cleaning
subsea installations; industrial robots; machine equipment
in the form of pumps, expansion tanks (parts of machine),
bolting equipment, industrial centrifugal drying machines
and portable filtration units, air compressors, equipment,
hydraulic hose reels and hot water washers; machine tools
for completion and inspection of subsea installations. Scientific, research, navigation, surveying, photographic,
cinematographic, audiovisual, optical, weighing, measuring,
signalling, detecting, testing, inspecting, life saving and
teaching apparatus and instruments; apparatus and
instruments for conducting, switching, transforming,
accumulating, regulating or controlling the distribution or
use of electricity; apparatus and instruments for recording,
transmitting, reproducing or processing sound, images or
data; recorded or downloadable media, computer software,
blank digital or analogue recording and storage media;
coin-operated mechanisms; cash registers, calculating
devices; computers and computer peripheral devices; diving
suits, divers' masks, ear plugs for divers, nose clips for
divers and swimmers, gloves for divers, breathing apparatus
for underwater swimming; fire extinguishing apparatus;
hardware and software for the controlling of robotics and
robots; autonomous navigation systems for ships; inspection
equipment; remote-controlled, submersible robots (machine)
for underwater exploration; electronic control systems for
downhole equipment, industrial manipulators and robots;
computer operating system software; computer systems for use
in inspection and intervention of subsea installations. Vehicles; apparatus for locomotion by land, air or water;
drones, military drones; remotely operated vehicles for
underwater inspections; remote-controlled, submersible robot
(machine) for underwater exploration; equipment for
inspection of subsea installations. Construction; repair services for repairing of engines,
machines and machine tools, vehicles, apparatus for
locomotion by land, air or water, drones, military drones
and remotely operated underwater vehicles for underwater
inspection; installation services for modernization of
machines, machine tools, vehicles, means of transport for
use on land, in the air or in water, drones, military drones
and remotely operated underwater vehicles for inspection
during water mining, oil and gas drilling; construction
activities, repair activities, installation activities and
inspection during construction in relation to subsea
installations; rental of machinery and apparatus related to
the construction, maintenance, repair and inspection of
subsea installations, including oil rigs, drilling
equipment, oil and gas wells, pipelines, oil and gas
production units and parts and accessories therefor;
drilling and production services for oil and gas wells;
installation of instruments related to and concerning subsea
installations; installation of pipes and drilling
installations; cable laying for oil wells; installation of
riser coils during well construction; maintenance of casing
during well construction; maintenance of casing setting
tools during well construction; installation services for
underwater infrastructure (subsea), control systems and
mechanical equipment; advisory and consultancy services in
connection with subsea installations, oil and gas extraction
and all the aforementioned services. Transport; rental of photography drones; rental of
surveillance drones; rental of security drones. Processing and transformation of raw materials and mineral
resources; processing of chemicals; recycling of waste and
garbage; air purification and treatment of water; custom
manufacture of machinery and machine tools, pipelines, well
drilling machines, pumps, submersible pumps, pressure
gauges, pressure regulators, pressure valves, cementing
tools, downhole equipment, machinery and equipment for
subsea installations. Scientific and technological services and research and
design relating thereto; industrial analysis, industrial
research and industrial design services; quality control and
authentication services; design and development of computer
hardware and software; design and development of machines
and machine tools, pipelines, well drilling machines, pumps,
submersible pumps, pressure gauges, pressure regulators,
pressure valves, cementing tools, downhole equipment,
machines and equipment for subsea installations; casing
design during well construction; design of casing setting
tools during well construction; operation, namely monitoring
and control of casing during well construction; operation,
namely monitoring and control of casing setting tools during
well construction; technological services, engineering;
surveying, control, inspection and monitoring of subsea
installations, infrastructure and underwater pipelines;
technical advice relating to installation and maintenance of
computer software for subsea installations.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
37 - Services de construction; extraction minière; installation et réparation
39 - Services de transport, emballage et entreposage; organisation de voyages
40 - Traitement de matériaux; recyclage, purification de l'air et traitement de l'eau
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Machines and machine tools for the processing and
manufacturing of materials; motors and engines [except for
land vehicles]; machine coupling and transmission
components, except for land vehicles; machines and machine
tools for use in the installation and construction of subsea
installations; machines and machine tools for use in
connection with installation, construction, maintenance or
repair of subsea installations; machines for use in cleaning
subsea installations; industrial robots; machine equipment
in the form of pumps, expansion tanks (parts of machine),
bolting equipment, industrial centrifugal drying machines
and portable filtration units, air compressors, equipment,
hydraulic hose reels and hot water washers; machine tools
for completion and inspection of subsea installations. Scientific, research, navigation, surveying, photographic,
cinematographic, audiovisual, optical, weighing, measuring,
signalling, detecting, testing, inspecting, life saving and
teaching apparatus and instruments; apparatus and
instruments for conducting, switching, transforming,
accumulating, regulating or controlling the distribution or
use of electricity; apparatus and instruments for recording,
transmitting, reproducing or processing sound, images or
data; recorded or downloadable media, computer software,
blank digital or analogue recording and storage media;
coin-operated mechanisms; cash registers, calculating
devices; computers and computer peripheral devices; diving
suits, divers' masks, ear plugs for divers, nose clips for
divers and swimmers, gloves for divers, breathing apparatus
for underwater swimming; fire extinguishing apparatus;
hardware and software for the controlling of robotics and
robots; autonomous navigation systems for ships; inspection
equipment; remote-controlled, submersible robots (machine)
for underwater exploration; electronic control systems for
downhole equipment, industrial manipulators and robots;
computer operating system software; computer systems for use
in inspection and intervention of subsea installations. Vehicles; apparatus for locomotion by land, air or water;
drones, military drones; remotely operated vehicles for
underwater inspections; remote-controlled, submersible robot
(machine) for underwater exploration; equipment for
inspection of subsea installations. Construction; repair services for repairing of engines,
machines and machine tools, vehicles, apparatus for
locomotion by land, air or water, drones, military drones
and remotely operated underwater vehicles for underwater
inspection; installation services for modernization of
machines, machine tools, vehicles, means of transport for
use on land, in the air or in water, drones, military drones
and remotely operated underwater vehicles for inspection
during water mining, oil and gas drilling; construction
activities, repair activities, installation activities and
inspection during construction in relation to subsea
installations; rental of machinery and apparatus related to
the construction, maintenance, repair and inspection of
subsea installations, including oil rigs, drilling
equipment, oil and gas wells, pipelines, oil and gas
production units and parts and accessories therefor;
drilling and production services for oil and gas wells;
installation of instruments related to and concerning subsea
installations; installation of pipes and drilling
installations; cable laying for oil wells; installation of
riser coils during well construction; maintenance of casing
during well construction; maintenance of casing setting
tools during well construction; installation services for
underwater infrastructure (subsea), control systems and
mechanical equipment; advisory and consultancy services in
connection with subsea installations, oil and gas extraction
and all the aforementioned services. Transport; rental of photography drones; rental of
surveillance drones; rental of security drones. Processing and transformation of raw materials and mineral
resources; processing of chemicals; recycling of waste and
garbage; air purification and treatment of water; custom
manufacture of machinery and machine tools, pipelines, well
drilling machines, pumps, submersible pumps, pressure
gauges, pressure regulators, pressure valves, cementing
tools, downhole equipment, machinery and equipment for
subsea installations. Scientific and technological services and research and
design relating thereto; industrial analysis, industrial
research and industrial design services; quality control and
authentication services; design and development of computer
hardware and software; design and development of machines
and machine tools, pipelines, well drilling machines, pumps,
submersible pumps, pressure gauges, pressure regulators,
pressure valves, cementing tools, downhole equipment,
machines and equipment for subsea installations; casing
design during well construction; design of casing setting
tools during well construction; operation, namely monitoring
and control of casing during well construction; operation,
namely monitoring and control of casing setting tools during
well construction; technological services, engineering;
surveying, control, inspection and monitoring of subsea
installations, infrastructure and underwater pipelines;
technical advice relating to installation and maintenance of
computer software for subsea installations.
Docking systems for an underwater vehicle including a launch and recovery system (LARS) for an underwater vehicle, a subsea docking station for an underwater vehicle, a subsea docking system for an underwater vehicle, and methods of docking an underwater vehicle, are disclosed. The docking systems (200) comprise a docking mechanism (201) for docking with the underwater vehicle (100) when in water (3). The docking mechanism (201) is configured to capture the underwater vehicle (100) when the underwater vehicle (100) is in a substantially vertical orientation and is submerged.
B63B 27/16 - Aménagement des équipements de bord pour l'embarquement ou le débarquement des cargaisons ou des passagers des ascenseurs ou appareils de levage
B63G 8/00 - Navires submersibles, p. ex. sous-marins
An underwater vehicle for performing subsea operations is disclosed. The underwater vehicle (100) comprises a hull (101) comprising a nose end (102) and a tail end (103); a propulsion mechanism (105) configured to propel the underwater vehicle (100); a passive joint module (104) connecting the propulsion mechanism (105) to the hull (101) at one of the tail end (103) or the nose end (102) of the hull (101); and a controller (110) in communication with the propulsion mechanism (105). The propulsion mechanism (105) comprises a pair of propulsion devices (150) configured to generate thrust to propel the underwater vehicle (100) through water, the thrust of each propulsion device (150) being independently controllable. The controller (110) is configured to control an angle at which the passive joint module (104) connects the propulsion mechanism (105) to the hull (101) through independent control of the thrust of each of the propulsion devices (150).
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
37 - Services de construction; extraction minière; installation et réparation
39 - Services de transport, emballage et entreposage; organisation de voyages
40 - Traitement de matériaux; recyclage, purification de l'air et traitement de l'eau
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Machines and machine tools for the processing and manufacturing of materials; motors and engines except for land vehicles; machine coupling and transmission components, except for land vehicles; machines and machine tools for use in the installation and construction of subsea installations; machines and machine tools for use in connection with installation, construction, maintenance or repair of subsea installations; machines for use in cleaning subsea installations, namely, abrasive blast cleaning machines, steam cleaning brushes, underwater cleaning brushes, rotary cleaning brushes, water-jet cleaning machines, high-pressure water cleaning machines, cavitation cleaning machines, subsea debris removal machines, underwater biofouling removal machines, and robotic net cleaning machines for aquaculture; industrial robots; machine equipment being parts of machines in the form of pumps, expansion tanks being parts of machines; bolting equipment, namely, electric and hydraulic machines for installing and tightening bolts; industrial centrifugal drying machines; portable filtration units being machines for the filtration of air; air compressors; hydraulic-powered reels for flexible hoses; multipurpose high pressure hot water washers; machine tools for completion and inspection of subsea installations. Scientific, research, navigation, surveying, photographic, cinematographic, audiovisual, optical, weighing, measuring, signalling, detecting, testing, inspecting, life saving and teaching apparatus and instruments, namely, sonar apparatus, underwater cameras, photographic apparatus, global positioning system (GPS) apparatus, navigational instruments, marine surveying instruments, distance measuring apparatus, scientific detection apparatus, underwater sensors, life buoys and data collection and monitoring apparatus for scientific and research purposes; apparatus and instruments for conducting, switching, transforming, accumulating, regulating or controlling the distribution or use of electricity; apparatus and instruments for recording, transmitting, reproducing or processing sound, images or data; pre-recorded and downloadable digital media featuring images, video and survey data in the field of underwater exploration, marine science, and subsea infrastructure inspection; downloadable computer software for controlling and operating autonomous underwater vehicles, underwater mission planning and processing and analyzing underwater survey and sensor data, all in the field of subsea robotics and marine inspection; blank digital and analogue recording and storage media; coin-operated mechanisms for televisions; cash registers, calculating devices; computers and computer peripheral devices; diving suits, divers' masks, ear plugs for divers, nose clips for divers and swimmers, gloves for divers, breathing apparatus for underwater swimming; fire extinguishing apparatus; hardware and downloadable software for the controlling of robotics and robots; autonomous navigation systems for ships; electronic inspection equipment for testing and inspecting electrical currents, water pressure, subsea pipelines, risers, offshore structures, and underwater infrastructure; remote-controlled, submersible robots for underwater exploration; electronic control systems for downhole equipment, industrial manipulators and robots; downloadable computer operating system software; computer systems comprising computer hardware and downloadable operating system software for use in inspection and intervention of subsea installations. Vehicles, namely, amphibious vehicles, all-terrain vehicles, unmanned underwater vehicles, autonomous underwater vehicles, remotely operated underwater vehicles, and underwater robotic vehicles; apparatus for locomotion by land, air or water, namely, land vehicles, aircraft, automobiles, boats, personal jet boats, autonomous underwater vehicles, unmanned underwater vehicles, remotely operated underwater vehicles, and unmanned surface vessels; drones, military drones; remotely operated vehicles for underwater inspections; remote-controlled, submersible robot vehicles for underwater exploration; equipment for inspection of subsea installations, namely, autonomous underwater vehicles for seabed inspections. Construction, namely, underwater construction services, subsea infrastructure construction, and offshore construction services; repair services for repairing of engines, machines and machine tools, vehicles, apparatus for locomotion by land, air or water, drones, military drones and remotely operated underwater vehicles for underwater inspection; installation services for modernization of machines, machine tools, vehicles, means of transport for use on land, in the air or in water, drones, military drones and remotely operated underwater vehicles for inspection during water mining, oil and gas drilling; construction, repair, installation and inspection during construction in relation to subsea installations; rental of machinery and apparatus related to the construction, maintenance, repair and inspection of subsea installations, including oil rigs, drilling equipment, oil and gas wells, pipelines, oil and gas production units and parts and accessories therefor; drilling services and installation of oil and gas and production apparatus for oil and gas wells; installation of instruments related to and concerning subsea installations; installation of pipes and drilling installations; cable laying for oil wells; installation of riser coils during well construction; maintenance of casing during well construction; maintenance of casing setting tools during well construction; installation services for underwater infrastructure, control systems and mechanical equipment; advisory and consultancy services in connection with subsea installations, oil and gas extraction and all the aforementioned services. Transport, namely, underwater vehicle transport, marine vessel transport, and transportation of scientific equipment and payloads; rental of photography drones; rental of surveillance drones; rental of security drones. Processing and transformation of raw materials and mineral resources; processing of chemicals; recycling of waste and garbage; air purification and treatment of water; custom manufacture of machinery and machine tools, pipelines, well drilling machines, pumps, submersible pumps, pressure gauges, pressure regulators, pressure valves, cementing tools, downhole equipment, machinery and equipment for subsea installations. Scientific and technological services, namely, research and design in the field of autonomous underwater vehicles, marine robotics, and subsea infrastructure inspection technology; industrial scientific analysis, industrial research in the field of subsea infrastructure integrity, marine biofouling and corrosion, underwater environmental monitoring and industrial design services; quality control of goods and services and authentication services in the field of subsea infrastructure integrity, underwater asset condition verification, and underwater threat detection and verification; design and development of computer hardware and software; design and development of machines and machine tools, pipelines, well drilling machines, pumps, submersible pumps, pressure gauges, pressure regulators, pressure valves, cementing tools, downhole equipment, machines and equipment for subsea installations; design of casing for use during well construction; design of casing setting tools for use during well construction; monitoring and quality control of casing during well construction; monitoring and quality control of casing setting tools during well construction; technological consulting services in the field of engineering; surveying, quality control, inspection and monitoring of subsea installations, infrastructure and underwater pipelines; technical advice relating to installation and maintenance of computer software for subsea installations.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
37 - Services de construction; extraction minière; installation et réparation
39 - Services de transport, emballage et entreposage; organisation de voyages
40 - Traitement de matériaux; recyclage, purification de l'air et traitement de l'eau
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Machines and machine tools for the processing and manufacturing of materials; motors and engines except for land vehicles; machine coupling and transmission components, except for land vehicles; machines and machine tools for use in the installation and construction of subsea installations; machines and machine tools for use in connection with installation, construction, maintenance or repair of subsea installations; machines for use in cleaning subsea installations, namely, abrasive blast cleaning machines, steam cleaning brushes, underwater cleaning brushes, rotary cleaning brushes, water-jet cleaning machines, high-pressure water cleaning machines, cavitation cleaning machines, subsea debris removal machines, underwater biofouling removal machines, and robotic net cleaning machines for aquaculture; industrial robots; machine equipment being parts of machines in the form of pumps, expansion tanks being parts of machines; bolting equipment, namely, electric and hydraulic machines for installing and tightening bolts; industrial centrifugal drying machines; portable filtration units being machines for the filtration of air; air compressors; hydraulic-powered reels for flexible hoses; multipurpose high pressure hot water washers; machine tools for completion and inspection of subsea installations. Scientific, research, navigation, surveying, photographic, cinematographic, audiovisual, optical, weighing, measuring, signalling, detecting, testing, inspecting, life saving and teaching apparatus and instruments, namely, sonar apparatus, underwater cameras, photographic apparatus, global positioning system (GPS) apparatus, navigational instruments, marine surveying instruments, distance measuring apparatus, scientific detection apparatus, underwater sensors, life buoys and data collection and monitoring apparatus for scientific and research purposes; apparatus and instruments for conducting, switching, transforming, accumulating, regulating or controlling the distribution or use of electricity; apparatus and instruments for recording, transmitting, reproducing or processing sound, images or data; pre-recorded and downloadable digital media featuring images, video and survey data in the field of underwater exploration, marine science, and subsea infrastructure inspection; downloadable computer software for controlling and operating autonomous underwater vehicles, underwater mission planning and processing and analyzing underwater survey and sensor data, all in the field of subsea robotics and marine inspection; blank digital and analogue recording and storage media; coin-operated mechanisms for televisions; cash registers, calculating devices; computers and computer peripheral devices; diving suits, divers' masks, ear plugs for divers, nose clips for divers and swimmers, gloves for divers, breathing apparatus for underwater swimming; fire extinguishing apparatus; hardware and downloadable software for the controlling of robotics and robots; autonomous navigation systems for ships; electronic inspection equipment for testing and inspecting electrical currents, water pressure, subsea pipelines, risers, offshore structures, and underwater infrastructure; remote-controlled, submersible robots for underwater exploration; electronic control systems for downhole equipment, industrial manipulators and robots; downloadable computer operating system software; computer systems comprising computer hardware and downloadable operating system software for use in inspection and intervention of subsea installations. Vehicles, namely, amphibious vehicles, all-terrain vehicles, unmanned underwater vehicles, autonomous underwater vehicles, remotely operated underwater vehicles, and underwater robotic vehicles; apparatus for locomotion by land, air or water, namely, land vehicles, aircraft, automobiles, boats, personal jet boats, autonomous underwater vehicles, unmanned underwater vehicles, remotely operated underwater vehicles, and unmanned surface vessels; drones, military drones; remotely operated vehicles for underwater inspections; remote-controlled, submersible robot vehicles for underwater exploration; equipment for inspection of subsea installations, namely, autonomous underwater vehicles for seabed inspections. Construction, namely, underwater construction services, subsea infrastructure construction, and offshore construction services; repair services for repairing of engines, machines and machine tools, vehicles, apparatus for locomotion by land, air or water, drones, military drones and remotely operated underwater vehicles for underwater inspection; installation services for modernization of machines, machine tools, vehicles, means of transport for use on land, in the air or in water, drones, military drones and remotely operated underwater vehicles for inspection during water mining, oil and gas drilling; construction, repair, installation and inspection during construction in relation to subsea installations; rental of machinery and apparatus related to the construction, maintenance, repair and inspection of subsea installations, including oil rigs, drilling equipment, oil and gas wells, pipelines, oil and gas production units and parts and accessories therefor; drilling services and installation of oil and gas and production apparatus for oil and gas wells; installation of instruments related to and concerning subsea installations; installation of pipes and drilling installations; cable laying for oil wells; installation of riser coils during well construction; maintenance of casing during well construction; maintenance of casing setting tools during well construction; installation services for underwater infrastructure, control systems and mechanical equipment; advisory and consultancy services in connection with subsea installations, oil and gas extraction and all the aforementioned services. Transport, namely, underwater vehicle transport, marine vessel transport, and transportation of scientific equipment and payloads; rental of photography drones; rental of surveillance drones; rental of security drones. Processing and transformation of raw materials and mineral resources; processing of chemicals; recycling of waste and garbage; air purification and treatment of water; custom manufacture of machinery and machine tools, pipelines, well drilling machines, pumps, submersible pumps, pressure gauges, pressure regulators, pressure valves, cementing tools, downhole equipment, machinery and equipment for subsea installations. Scientific and technological services, namely, research and design in the field of autonomous underwater vehicles, marine robotics, and subsea infrastructure inspection technology; industrial scientific analysis, industrial research in the field of subsea infrastructure integrity, marine biofouling and corrosion, underwater environmental monitoring and industrial design services; quality control of goods and services and authentication services in the field of subsea infrastructure integrity, underwater asset condition verification, and underwater threat detection and verification; design and development of computer hardware and software; design and development of machines and machine tools, pipelines, well drilling machines, pumps, submersible pumps, pressure gauges, pressure regulators, pressure valves, cementing tools, downhole equipment, machines and equipment for subsea installations; design of casing for use during well construction; design of casing setting tools for use during well construction; monitoring and quality control of casing during well construction; monitoring and quality control of casing setting tools during well construction; technological consulting services in the field of engineering; surveying, quality control, inspection and monitoring of subsea installations, infrastructure and underwater pipelines; technical advice relating to installation and maintenance of computer software for subsea installations.
An autonomous underwater vehicle for performing subsea operations is disclosed. The autonomous underwater vehicle, AUV, (100) comprises a hull (101) having a nose end and a tail end; a propulsion mechanism (152) configured to propel the AUV (100); and an internal ballast (151) located in the hull (101). The propulsion mechanism (152) comprises a pair of counter-rotating propellers (153), wherein the rotational speed of each propeller is independently controllable. The AUV (100) further comprises an internal ballast positioning mechanism configured to controllably move the internal ballast (151) relative to the hull (101). The independently controllable propellers of the pair of counter-rotating propellers (153) and the internal ballast positioning mechanism each provide roll control for the AUV (100).
B63B 3/13 - Coques résistant à la pression hydrostatique lorsqu'entièrement submergées, p. ex. coques de sous-marins
B63B 73/20 - Construction ou assemblage de modules de navires préfabriqués ou de pièces autres que les sous-ensembles de coque, p. ex. de salles des moteurs, de gouvernails, d'hélices, de superstructures, de couchettes, de casiers ou de soutes
B63B 73/40 - Construction ou assemblage de navires ou de structures marines, p. ex. coques ou plateformes en pleine mer caractérisés par les procédés d’assemblage
B63G 8/00 - Navires submersibles, p. ex. sous-marins
An autonomous underwater vehicle for performing subsea operations is provided. The vehicle comprises two or more sections which are configured to be connected and disconnected from one another, wherein at least two of the sections are elongate and connectable in parallel with each other to form a rigid hull, wherein each section has a mass that is less than 80kg and wherein each section is individually pressure-rated and can individually be submerged in water whilst not connected to another of the sections.
B63G 8/00 - Navires submersibles, p. ex. sous-marins
B63B 73/40 - Construction ou assemblage de navires ou de structures marines, p. ex. coques ou plateformes en pleine mer caractérisés par les procédés d’assemblage
B63B 73/20 - Construction ou assemblage de modules de navires préfabriqués ou de pièces autres que les sous-ensembles de coque, p. ex. de salles des moteurs, de gouvernails, d'hélices, de superstructures, de couchettes, de casiers ou de soutes
B63B 3/13 - Coques résistant à la pression hydrostatique lorsqu'entièrement submergées, p. ex. coques de sous-marins
An underwater snake robot 400 for performing subsea operations, the robot 400 comprising: a series of links 401, 402 that are connected to one another by one or more joint modules 404 for allowing a flexural motion of the robot; and one or more thrust devices for applying thrust to the robot 400 for propulsion and/or guidance; wherein the flexural motion and/or thrust device(s) enable movement of the robot 400 and control of the orientation and/or location of the links 401, 402, and wherein the robot 400 has a length to diameter ratio of at least 25:1.
H01M 50/249 - MonturesBoîtiers secondaires ou cadresBâtis, modules ou blocsDispositifs de suspensionAmortisseursDispositifs de transport ou de manutentionSupports spécialement adaptés aux aéronefs ou aux véhicules, p. ex. aux automobiles ou aux trains
An underwater snake robot 200 for performing subsea operations, the robot 200 comprising: a series of links 202, 204 that are connected to one another by one or more passive joint modules 201 for allowing a flexural motion of the robot 200; and multiple thrust devices 203 for applying thrust to the robot 200 for propulsion, for generating the flexural motion of the robot and for controlling the orientation and location of the links 202, 204.
An underwater snake robot (400) for performing subsea operations, the robot (400) comprising: a series of links (401, 402) that are connected to one another by one or more joint modules (404) for allowing a flexural motion of the robot; and one or more thrust devices for applying thrust to the robot (400) for propulsion and/or guidance; wherein the flexural motion and/or thrust device(s) enable movement of the robot (400) and control of the orientation and/or location of the links (401, 402), and wherein the robot (400) has a length to diameter ratio of at least 25:1.
B25J 9/06 - Manipulateurs à commande programmée caractérisés par des bras à articulations multiples
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B63G 8/00 - Navires submersibles, p. ex. sous-marins
B63C 1/00 - Mise en cale sèche des navires ou des hydravions
An underwater snake robot (200) for performing subsea operations, the robot (200) comprising: a series of links (202, 204) that are connected to one another by one or more passive joint modules (201) for allowing a flexural motion of the robot (200); and multiple thrust devices (203) for applying thrust to the robot (200) for propulsion, for generating the flexural motion of the robot and for controlling the orientation and location of the links (202, 204).
B25J 9/06 - Manipulateurs à commande programmée caractérisés par des bras à articulations multiples
B63G 8/00 - Navires submersibles, p. ex. sous-marins
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
An underwater manipulator arm robot comprises: a plurality of links that are connected to one another by joint modules for generating a flexural motion of the robot; multiple thrust devices located at different points along the length of the robot for applying thrust to the robot for propulsion and/or guidance; and at least one tool, or at least one connection point for a tool, attached to the robot; wherein the flexural motion and/or thrust devices enable movement of the robot and control of the orientation and/or location of the tool.
09 - Appareils et instruments scientifiques et électriques
37 - Services de construction; extraction minière; installation et réparation
40 - Traitement de matériaux; recyclage, purification de l'air et traitement de l'eau
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Machines and machine tools for use in installation and
construction of subsea installations; machines and machine
apparatus for use in connection with installation,
construction, maintenance or repair of subsea installations;
machines and machine apparatus for use in purification of
subsea installations; robotic machines; machines and machine
tools, namely pumps, inspection machines, bolt tensioning
tools, dry filtering machines, air compressors, testing
machines and machine tools, and machines and machine tools
for completion, cementing and inspection of subsea
installations; remote-controlled, submersible robots
(machines) for underwater investigations. Scientific, nautical, surveying, photographic,
cinematographic, optical, weighing, measuring, signalling,
checking (supervision), life-saving and teaching apparatus
and instruments; measuring machines and measuring
instruments for use in oil and gas exploration; measuring
apparatus and measuring instruments for use in the oil and
gas extraction, apparatus and instruments for the
management, distribution, transformation, accumulation,
regulation or control of electricity; apparatus for
recording, transmission or reproduction of sound or images;
magnetic data carriers, registered computer programs and
software; gramophone discs; calculators, data processing
equipment and computers; fire extinguishers; hardware and
firmware of the computer software for the management and
control of robotics and robots; electronic control systems
for downhole equipment, industrial manipulators and robots;
software for computer operating systems; computer systems
for use by the inspection and the intervention of subsea
installations. Building construction; repair; installation services and
inspection services related to subsea installations; rental
of machines and apparatus related to the construction,
maintenance, repair and inspection of subsea installations,
including oil rigs, drilling equipment, oil and gas wells,
pipelines, oil and gas production units, and parts and
accessories thereof; drilling services and production
services for oil and gas wells; installation of instruments
related to and regarding subsea installations; installation
of pipes and drilling installations; cable laying for oil
wells; installation of rise pipe spirals during well
construction; management and maintenance of casings during
well construction; management and maintenance of set tools
for casings in welt construction; installation services for
underwater infrastructures (subsea), management systems and
mechanical equipment; advisory services and consulting
services related to the construction, installation and
maintenance of subsea installations, oil and gas extraction
and all of the before mentioned services; construction of
pipelines. Custom manufacture of machines and machine tools, well
drilling machines, pumps, submersible pumps, pressure
gauges, pressure regulators, pressure valves, cementing
tools, downhole equipment, machines and equipment for the
subsea installations. Scientific and technological services and research and
development related thereto; industrial analysis and
research; design and development of computers and computer
programs; design and development of machines and machine
tools, pipelines, well drilling machines, pumps, submersible
pumps, pressure gauges, pressure regulators, pressure
valves, cementing tools, downhole equipment, machines and
equipment for subsea installations; design of casings for
well construction; design of set tools for casing in well
constructions; management, namely, monitoring and control of
casing during well construction operations; management,
namely, monitoring and control of set tools for casing in
well constructions; technological services, engineering;
mapping, control, inspection and monitoring of subsea
installations, under water infrastructure and pipelines;
technical consultancy in connection with the installation of
subsea installations.
An underwater manipulator arm robot comprises: a plurality of links that are connected to one another by joint modules (2) for generating a flexural motion of the robot; multiple thrust devices (6), (8), (18) located at different points along the length of the robot for applying thrust to the robot for propulsion and/or guidance; and at least one tool (12), (14), or at least one connection point for a tool, attached to the robot; wherein the flexural motion and/or thrust devices (6), (8), (18) enable movement of the robot and control of the orientation and/or location of the tool (12), (14).
An underwater manipulator arm robot comprises: a plurality of links that are connected to one another by joint modules (2) for generating a flexural motion of the robot; multiple thrust devices (6), (8), (18) located at different points along the length of the robot for applying thrust to the robot for propulsion and/or guidance; and at least one tool (12), (14), or at least one connection point for a tool, attached to the robot; wherein the flexural motion and/or thrust devices (6), (8), (18) enable movement of the robot and control of the orientation and/or location of the tool (12), (14).
A snake robot comprises a flexible elongate structure capable of bending itself at two or more joints along its length in order to generate an undulating motion to thereby propel itself through water. A method for guidance of the snake robot is described, the method comprising: determining a desired path for the robot, the desired path extending between a current location of the robot and a destination point; during forward movement of the robot, when the robot diverges from the desired path, determining an extent of the divergence from the desired path; calculating a desired orientation for the robot as a static or dynamic function of the extent of divergence from the desired path, the desired orientation being non- parallel with the desired path when the robot is affected by drift forces such as ocean currents; and controlling the robot so that it is aligned with the desired orientation, and the longitudinal orientation of the robot is non-parallel with the desired path.
An apparatus for placement on or in a body of water for hyperspectral imaging of material in the water comprises an artificial light source and a hyperspectral imager. These are arranged so that in use light exits the apparatus beneath the surface of the water and is reflected by said material before re-entering the apparatus beneath the surface of the water and entering the hyperspectral imager. The hyperspectral imager is adapted to produce hyperspectral image data having at least two spatial dimensions.
An apparatus for placement on or in a body of water for hyperspectral imaging of material in the water comprises an artificial light source and a hyperspectral imager. These are arranged so that in use light exits the apparatus beneath the surface of the water and is reflected by said material before re-entering the apparatus beneath the surface of the water and entering the hyperspectral imager. The hyperspectral imager is adapted to produce hyperspectral image data having at least two spatial dimensions.
