EP3922544A1 - Plateforme de mesure et procédé de détection et de surveillance des conduites sous-marines - Google Patents

Plateforme de mesure et procédé de détection et de surveillance des conduites sous-marines Download PDF

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Publication number
EP3922544A1
EP3922544A1 EP21177885.7A EP21177885A EP3922544A1 EP 3922544 A1 EP3922544 A1 EP 3922544A1 EP 21177885 A EP21177885 A EP 21177885A EP 3922544 A1 EP3922544 A1 EP 3922544A1
Authority
EP
European Patent Office
Prior art keywords
measuring platform
floating body
drive
measuring
unit
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP21177885.7A
Other languages
German (de)
English (en)
Inventor
Walter Siegmund
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scan4pipes Europe GmbH
Original Assignee
Scan4pipes Europe GmbH
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 Scan4pipes Europe GmbH filed Critical Scan4pipes Europe GmbH
Publication of EP3922544A1 publication Critical patent/EP3922544A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
    • F17D5/00—Protection or supervision of installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • 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
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis
    • B63H2005/1258—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis with electric power transmission to propellers, i.e. with integrated electric propeller motors

Definitions

  • the invention relates to a measuring platform for locating and monitoring pipelines under water according to the preamble of claim 1.
  • the invention also relates to an arrangement and a method for operating a measuring platform.
  • pipelines with large dimensions and high flow capacities are very often used.
  • the maintenance and regular inspection of these pipelines are not only a technical and logistical challenge due to the large spatial dimensions of the pipelines. While above-ground pipelines in the countryside are generally quite easily accessible, the inspection of pipelines that are laid at the bottom as well as below the bottom of bodies of water makes considerable additional requirements.
  • an underwater vehicle discloses that it is connected to a mother ship via a supply line and is remotely controlled.
  • the submersible is equipped with a number of sensors and tools and can be controlled remotely from the mother ship.
  • ROV remotely operated vehicle
  • Remote controllable or autonomous boats from various manufacturers such as the C-Cat3 from ASV (GB), the Q-Boat 1800 from Teledyne (USA) or the ARCboat Lite from HR Wallingford (GB) are known for such areas of application .
  • These boats are all light and have a shallow draft. They can be remotely controlled and equipped with different sensors.
  • the feed is generated by two propellers that are driven by electric motors.
  • the propellers are with everyone Models arranged at the stern and propel the boat forward in its longitudinal direction. The low weight of the boats and effective steering systems allow their high maneuverability.
  • the ARCboat Lite also has a breakthrough through the entire hull, called a "moon-pool” or “moontube”, in the middle of the hull.
  • Various sensors can be used in this moon pool, which are used for data acquisition, especially in areas below the boat.
  • the mentioned boats have limits for certain measuring tasks, for example the precise localization of a pipeline. Locating corrosion protection defects, i.e. recording specific measured values with a very high level of local accuracy and sensitivity, is not possible with any of the aforementioned or similar boats. This disadvantage is particularly evident at higher flow velocities.
  • the invention is based on the object of proposing a device for locating and / or monitoring pipelines under water which is improved over the prior art. It is also an object of the invention to provide a use of such a device.
  • the measuring platform is designed to locate and / or monitor pipelines under water. It has a floating body which is designed to accommodate measuring devices, hereinafter also referred to as sensors or sensor elements, and which has at least two drive elements on an underside for the controlled drive of the floating body.
  • the drive elements are operated by means of drive units, for example electric motors.
  • there is a position detection unit for determining a current position and a current orientation of the floating body.
  • the measuring platform has a control unit, for example a computer, for controlling the drive units as a function of a determined current position and / or orientation of the floating body.
  • a current position is determined in relation to a selected coordinate system; a current orientation can likewise be determined in relation to a coordinate system and / or to terrain structures.
  • Such terrain structures can be, for example, a bank of a body of water or a channel or a ridge on the bottom of the body of water.
  • a measuring platform is characterized in that in each case one of the at least two drive elements is arranged in areas at the ends of the underside of the floating body which are opposite one another.
  • Each drive element can be pivoted about an axis directed essentially orthogonally to the underside of the floating body (pivot axis).
  • the pivot axis is directed essentially orthogonally when it is inclined not more than 25 °, better not more than 15 °, in particular not more than 10 ° with respect to the underside.
  • An essential aspect of the invention consists in the separate arrangement of the drive elements and the possibility of their relative orientation and control independently of one another.
  • Each of the drive elements can therefore be operated in a controlled manner, independently of the other drive element, with regard to its orientation relative to the float, as well as with regard to its individual drive power and drive direction (eg the direction of rotation of a propeller).
  • the measuring platform can be moved in any direction regardless of its current orientation.
  • the drive elements only have to be in the required relative position to the floating body and / or to the coordinate system used brought and controlled and driven with regard to their speed and optionally also with regard to their direction of rotation.
  • the alignment, drive power and direction of the drive elements can be coordinated with one another by means of a control unit in order to bring about a desired driving maneuver.
  • control of the drive elements, the current alignment of the float, existing currents and the position to be controlled are advantageously related to one another and the necessary control commands are generated.
  • control unit when the control unit generates the control commands, it can advantageously be taken into account which current orientation the measuring platform is to assume when it reaches a position to be controlled, for example an examination position at which measurements are to be carried out.
  • a current direction of movement of the measuring platform can be changed by a large angle, for example 90 degrees or more, without changing the alignment of the measuring platform.
  • a large angle for example 90 degrees or more
  • an alignment of the measuring platform relative to a water flow, to a coordinate system or to a terrain structure can be maintained while the direction of travel is changed.
  • the measuring platform can be maneuvered as required in a very narrow space, despite the presence of a current.
  • the measuring platform can turn at its respective position ("at the place").
  • the drive elements can be directed at an angle other than 90 °, for example up to 75 °, in particular up to 80 °, from the respective pivot axis.
  • a propeller present on the drive element can be tilted by up to 15 °, in particular up to 10 °, for example 7 °, relative to the pivot axis.
  • Such a slight incline is hydrodynamically advantageous.
  • the formation of air bubbles can be reduced by a corresponding inclination of the drive elements during the drive elements, whereby the measuring processes of the sensor elements are advantageously influenced.
  • the drive elements can each be operated by means of a drive unit arranged in and / or on the floating body.
  • a drive unit can comprise at least one motor, in particular at least one electric motor.
  • one motor can generate the rotational movement of a propeller, while another motor, acting as an actuator, adjusts the relative alignment of the drive element.
  • the drive unit can be connected to the drive element by means of a gear or a shaft. If the drive unit is located in or on the floating body, its drive power can be transmitted to the drive element by means of a shaft, for example.
  • the drive unit can be designed as a pump.
  • the drive element can be, for example, a pivotable nozzle through which water conveyed by the pump is ejected and a feed is generated in this way.
  • a relative alignment of the drive element can be adjusted by means of a motor.
  • Each drive element can advantageously have at least one tail unit, for example a guide plate or a guide surface.
  • This tail unit which can also be made in several parts, advantageously supports, for example, straight-ahead travel of the measuring platform due to its effect as a rudder or fin.
  • the float advantageously has an aspect ratio, that is to say a ratio of length to width, of at most 3 to 1; advantageously of at most 2.5 to 1, preferably of at most 2 to 1.
  • the measuring platform thus has no pronounced structural and hydrodynamic preferred direction and can therefore also be moved sideways with little resistance.
  • a flat design in particular the underside of the float, supports the journey and change of direction of the measuring platform.
  • the float In order to be able to attach measuring devices to the measuring platform in a simple and flexible manner, which in particular are intended to acquire data from an area below the measuring platform, the float has at least one adapter area. This is designed in particular as a breakthrough through the floating body ("moon pool"). Further adapter areas can be present in the cover of the top of the float. If necessary, these can accommodate communication devices, antennas, position detection devices and / or measuring devices, for example.
  • the measuring platform is buoyant due to its floating body and advantageously has a shallow draft.
  • the floating body, and thus the measuring platform is submersible.
  • it has at least one immersion cell and a controllable pump unit for the regulated filling and emptying of the at least one immersion cell.
  • the measuring platform can be trimmed and / or its depth, and thus its inertia within certain limits, can be adjusted by specifically filling the at least one immersion cell. This option is advantageous, for example, when heavy or bulky measuring devices are mounted on the measuring platform.
  • the measuring platform can have at least one communication element of the position detection unit, which can be designed as an antenna. If the measuring platform is submersible, the communication element extends at least as far as the vicinity of the water surface, even when the float is submerged.
  • the communication element can be designed as a rigid or flexible rod antenna. In this way, in cooperation with suitable transmit and receive powers and transmit and receive frequencies, stable communication between the position detection unit and a reference position unit located outside the measuring platform is possible.
  • the communication element or further communication elements can be used to interact with the measurement platform.
  • the measuring platform can be remotely controlled manually if required.
  • Measurement data recorded by means of the sensor elements can also be transmitted continuously or in blocks to an external receiver, for example to a receiving station on the bank or on a ship.
  • All drive units are isolated from any electrical voltage. All current-carrying cables of the measuring platform are not only insulated, but also shielded as best as possible in order to avoid direct current magnetic fields.
  • the invention also relates to an arrangement of a measuring platform according to one of the preceding claims and a stationary reference position unit.
  • the position detection unit is connected to the reference position unit in a manner suitable for transmitting data, in particular by radio.
  • a stationary reference position unit is in particular a device for differential global positioning (Differential Global Positioning System; DGPS).
  • the very good maneuverability advantageously allows a method for operating the measuring platform in which, for example, an examination position is determined or an examination position is determined on the basis of recorded measured values.
  • the examination position is a position of the measuring platform, for example on a flowing body of water, which is not only intended to be passed over by the measuring platform, but at which several and / or longer-lasting measurements are to be carried out.
  • the examination position can be established, for example, on the basis of such measured values that were recorded, for example, at other points in a pipeline.
  • the submarine and / or subterranean course of a pipeline can thus be tracked by means of the measuring platform and measured values can be recorded in the process.
  • measured values are, for example, data on the condition of the pipeline, such as the condition of its protective cover and / or the condition of a metallic pipe wall.
  • an operator of the measuring platform can trigger measuring processes at a specific examination position.
  • such measurement processes are advantageously initiated and carried out autonomously by the control unit on the basis of the measured values recorded so far as well as predetermined decision criteria.
  • an examination position can be specified in advance.
  • the positions of the pipeline on the bank are often known. Since these are particularly stressed sections of the pipeline, these positions can be specifically approached and checked. The same applies if the positions of the pipeline in the body of water are known with sufficient accuracy. Minor corrections to the positioning of the measuring platform at the established examination position are also included in the method according to the invention.
  • the measuring platform at the examination position can be moved around a virtual, essentially vertical, axis of rotation into a number of predetermined measuring positions.
  • the measuring platform according to the invention is held, for example, at a specific examination position on a body of water and, moreover, its relative alignment to the flow can be changed in a controlled manner without leaving the examination position. This is possible even when driving on flowing water or in a current.
  • the measuring platform according to the invention can advantageously be used to carry out a measuring method which is referred to here as a 4-position measurement by way of example.
  • the measuring platform is brought into a first position or measuring position at the examination position, in which the virtual axis of rotation is located at the examination position. At least one measurement is carried out in this first measurement position and the corresponding measurement data is recorded.
  • the measuring platform is then rotated around the virtual axis of rotation into a second measuring position by controlling the respective angular positions of the drive elements and the respective drive powers in such a way that the measuring platform is moved into the second measuring position and held in this second measuring position.
  • the measuring positions are advantageously orientations of the measuring platform offset from one another by 90 °.
  • measurement data in particular for the acquisition of the individual data for the detection of damage to anti-corrosion coatings of the pipeline and for the local flow direction and flow speed of the water, can be evaluated and used, which were already recorded during the previous journey of the measuring platform and which can be used as comparison values.
  • a corresponding procedure is followed in order to move to a third, a fourth and possibly at least one further measurement position at the relevant examination position.
  • the measurement positions already assumed once can be approached again, for example to repeat or continue measurements or to carry out other measurements at the relevant measurement position.
  • the virtual axis of rotation runs through the position of a sensor element of the measuring platform, for example an anode.
  • the measuring platform is therefore rotated around that point on the measuring platform at which the sensor element is located.
  • a second anode at a point on the measurement platform that is further away from the virtual axis of rotation allows the required measurement data to be collected.
  • the measured values of the two anodes can be related to one another in order to be able to derive information about the corrosion status of an examined pipeline, for example.
  • a combination of at least one anode as a sensor element with a 4-position measurement advantageously allows a very precise and verifiable location of a pipeline, its monitoring and the spatial assignment of the measurement data.
  • the measuring platform according to the invention enables very precise maneuverability, even in flowing waters.
  • a unique selling point of the measuring platform is that it can also be used to precisely and traceably check the condition of the pipeline, in particular the condition of the structural corrosion protection measures and the functionality of the mechanical corrosion protection.
  • a measuring platform 1 has, as essential components, a floating body 2 with an underside 2.1 and an upper side 2.2 as well as at least two drive elements 3, one of the drive elements 3 being arranged in opposite areas at the ends of the underside 2.1 of the floating body 2 ( Fig. 1 ).
  • Each of the drive elements 3 can be pivoted independently of one another around a respective axis (pivot axis S; illustrated with a broken solid line) oriented orthogonally to the underside 2.1 of the floating body 2 (see also Fig. 2 ).
  • the drive elements 3 are protected on two sides by protective brackets 4 ("skid") against damage caused by running onto flat ground or obstacles.
  • a railing 5 which allows the measuring platform 1 to be grasped and carried and at the same time serves as a bumper and protects the floating body 2 against damage, for example when landing.
  • the railing 5 can be used as a connecting element for the use of a hydraulic crane.
  • a communication element 6 in the form of an antenna is attached to the top 2.2.
  • a sensor element 8 is used, which protrudes from the adapter area 7 on the underside 2.1 and is used to acquire measurement data in an area below the measurement platform 1.
  • the adapter area 7 is located centrally in the floating body 2 ( Fig. 2 ).
  • double arrows indicate its mobility about the pivot axis S and its rotational movement for driving the measuring platform 1.
  • a drive element 3 comprises toothed belt wheels 10, each of which is connected to a hollow shaft 11 (shown in broken lines) with a gear unit (not shown) accommodated in a housing 12 ( Fig. 3 ).
  • the toothed belt pulleys 10 are arranged in the interior of the floating body 2.
  • a rotational force applied to a respective toothed belt pulley 10 is passed on via the corresponding hollow shaft 11 and either causes a pivoting movement of the housing 12 about the pivot axis S or the drive, for example, of a propeller attached to a drive shaft 13 (see Fig Fig. 1 and 2 ).
  • a tail unit 14, for example in the form of three guide plates, can optionally be attached to the housing 12 in order to significantly improve the directional stability of the measuring platform 1 while driving or when the water is flowing on it.
  • FIG. 4 a view into the interior of the floating body 2 of a second exemplary embodiment of the measuring platform 1 is shown schematically in a top view.
  • Each of the drive elements 3 (see FIG Figs. 1 to 3 ) pivoted and driven independently of each other.
  • the drive power is provided in each case by a drive motor 15.1, while the pivoting movement of the relevant drive element 3 about the pivot axis S (only designated once) by means of an actuator 15.2 is effected.
  • Both drives 15.1 and 15.2 are connected to the toothed belt wheels 10 by means of a toothed belt 16 for transmitting the drive or actuating forces.
  • a position detection unit 20 is installed, which determines a current position of the measuring platform 1 in a desired coordinate system and is connected to a control unit 17.
  • the control unit 17 is used to control the drive units 15, in particular as a function of data from the position detection unit 20 and the pump unit 18.
  • the technical elements mentioned are present in addition to the pump unit 18 and the immersion cells 19.
  • Further possible designs of the measuring platform 1 each have only one actuator 15.2, the pump unit 18 and optionally at least one immersion cell 19.
  • a pivotable nozzle serves as the drive element 3 through which water is pressed or sucked in by means of the pump unit 18. The relative alignment of the nozzle is controlled by means of the actuator 15.2.
  • Several pump units 18 can be present to supply the drive elements 3 and / or the at least one immersion cell 19.
  • FIG. 5a a maneuver is illustrated in which the measuring platform 1 is rotated around a virtual axis of rotation vD (symbolized by a cross) between two measuring positions.
  • the virtual axis of rotation vD is determined, for example, by a sensor element 8 in the form of an anode which is inserted in the adapter area 7 (moon pool).
  • a further sensor element 8 in the form of an anode is arranged on an edge region of the measuring platform 1.
  • a first measuring position solid line
  • the measuring platform 1 is held against a current (illustrated by a broad arrow) at a certain position (examination position) on the body of water by the correspondingly controlled drive elements 3.
  • control commands are generated by the control unit 17, the implementation of which leads to a pivoting movement of the measurement platform 1 by 90 ° into the second measurement position.
  • the measuring platform 1, in particular the anode 8 arranged in the adapter region 7 remains on the virtual axis of rotation vD.
  • the further sensor element 8 (further anode 8) is therefore moved in a defined circular arc around the examination position and is used to acquire further measurement data at the second measurement position.
  • This maneuver can include further measurement positions.
  • a 4-position measurement can be carried out at four measuring positions by rotating the measuring platform 1 one after the other into the four measuring positions ( Figure 5b ).
  • a measurement is carried out at each measurement position by means of the further sensor element 8.
  • measurement data from different directions for example a region of a pipeline 22 (see Fig. 6 ) recorded and can be evaluated.
  • a fixed reference position unit 21 e.g. a benchmark of the pipeline operator
  • a fixed reference position unit 21 is advantageously located in an arrangement according to the invention, for example on the bank of a body of water.
  • a section of the river is shown in simplified form.
  • the local profile of the flow velocities on the surface of the water is symbolized by arrows.
  • a pipeline 22 is located at the bottom of the body of water.
  • the position detection unit 20 inside the measuring platform 1 and the stationary reference position unit 21 are available via the communication means 6 (see FIG Fig. 1 and 4th ) in data exchange with each other. In this way, the measuring platform 1 can be controlled remotely or move autonomously on the water using the autopilot.
  • the measuring platform 1 is currently moving at an angle to the flow of the water (arrow as a solid line). Due to the above-described maneuverability of the measuring platform 1 according to the invention, it could also be moved in one of the directions shown by way of example with arrows (broken solid lines) without the need to change the relative orientation of the measuring platform 1 to the flow of the water.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
EP21177885.7A 2020-06-08 2021-06-06 Plateforme de mesure et procédé de détection et de surveillance des conduites sous-marines Withdrawn EP3922544A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102020115215.9A DE102020115215A1 (de) 2020-06-08 2020-06-08 Messplattform und Verfahren zum Auffinden und zur Überwachung von Rohrleitungen unter Wasser

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EP3922544A1 true EP3922544A1 (fr) 2021-12-15

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EP21177885.7A Withdrawn EP3922544A1 (fr) 2020-06-08 2021-06-06 Plateforme de mesure et procédé de détection et de surveillance des conduites sous-marines

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5047990A (en) 1990-06-01 1991-09-10 The United States Of America As Represented By The Secretary Of The Navy Underwater acoustic data acquisition system
WO2010123380A2 (fr) * 2009-04-24 2010-10-28 Sperre As Navire sous-marin doté d'une propulsion et d'une manipulation améliorées
DE102012014567A1 (de) * 2012-07-23 2014-01-23 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Wasserfahrzeug und Verfahren zur Gewässeruntersuchung
US20140234029A1 (en) 2007-02-12 2014-08-21 Valkyrie Commissioning Services Methods and apparatus for recovery of damaged subsea pipeline sections
US20170291670A1 (en) * 2016-04-08 2017-10-12 Texas Marine & Offshore Projects LLC Autonomous workboats and methods of using same
WO2017188823A1 (fr) * 2016-04-27 2017-11-02 Rolls-Royce Marine As Navire de surface sans équipage pour opérations de véhicule sous-marin commandé à distance

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018109085A1 (de) 2018-04-17 2019-10-17 Marco Sicconi Antriebsanordnung zur Kompensation und/oder zur Minderung und/oder zur Verringerung der Rollbewegung und/oder der Stampfbewegung eines Wasserfahrzeuges

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5047990A (en) 1990-06-01 1991-09-10 The United States Of America As Represented By The Secretary Of The Navy Underwater acoustic data acquisition system
US20140234029A1 (en) 2007-02-12 2014-08-21 Valkyrie Commissioning Services Methods and apparatus for recovery of damaged subsea pipeline sections
WO2010123380A2 (fr) * 2009-04-24 2010-10-28 Sperre As Navire sous-marin doté d'une propulsion et d'une manipulation améliorées
DE102012014567A1 (de) * 2012-07-23 2014-01-23 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Wasserfahrzeug und Verfahren zur Gewässeruntersuchung
US20170291670A1 (en) * 2016-04-08 2017-10-12 Texas Marine & Offshore Projects LLC Autonomous workboats and methods of using same
WO2017188823A1 (fr) * 2016-04-27 2017-11-02 Rolls-Royce Marine As Navire de surface sans équipage pour opérations de véhicule sous-marin commandé à distance

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