US4721055A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Remotely operated underwater vehicle
Assignee: DRILL SUPPORT INTERNATIONAL Pty Ltd
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Filing: 1985-01-17
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Granted: 1988-01-26
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Expires: 2005-01-17
Abstract
Abstract A remotely operated submersible vehicle (21), wherein the vehicle includes flotation cells (62) to provide positive buoyancy, and the vehicle is connected to a disposable clump weight (22) of sufficient weight to overcome the positive buoyancy. The connection between the clump weight and the vehicle is by way of a cable (25) which can be wound onto and off from a drum winch (45) within the vehicle to control its height off the seabed (23). The trim of the vehicle is maintained by adjusting the horizontal position of a cable guide (43) through which the clump weight cable (22) passes, the cable guide (43) being moved longitudinally and transversed by hydraulic cylinders (47). Control signals to control and monitor the operation vehicle are provided via an umbilical cable (29) extending from a ship (76) or platform on the surface. As well as operating with the clump weight (22) on the seabed (23), the vehicle (21) can be made to operate in a `free swimming` mode by selecting a clump weight (22) which only just overcomes the positive buoyancy of the flotation cells (62), positioning the weight to provide a bow up attitude and using a vertical thrust component produced by the thrusters (48) when the vehicle is in the bow up attitude to lift the vehicle from the seabed (23).
Inventors
- 👤 John T. Pado
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-05 22:16
CPC Classifications
B; B63; B63G; B63G8/00; B63G8/001; B63C; B63C11/00; B63C11/52; B63G2008/002; B63G2008/005; B63G2008/007
Claims Analysis
Total Claims: 25
Claim 1
Independent Claim
98 words
A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle.
Claim 2
Dependent Claim
98 words
A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle.
Claim 3
Dependent Claim
42 words
The vehicle of claim 1 wherein two thrusters are provided on the vehicle for manoeuvring and positioning thereof, said thrusters being located on opposite sides of a center line of the vehicle and each being directed for substantially fore and aft thrust.
Claim 4
Dependent Claim
20 words
The vehicle of claim 1 or 2 wherein said vehicle is provided with an outer housing having a towable shape.
Claim 5
Dependent Claim
18 words
The vehicle of claim 3 wherein a tail fin assembly is provided to improve directional stability during towing.
Claim 6
Dependent Claim
21 words
The vehicle of claim 3 or 4 wherein aquaplanes are provided for controlling the depth of the vehicle while under tow.
Claim 7
Dependent Claim
23 words
The vehicle as claimed in claim 1, wherein said clump weight is disposable and releasably attached to said free end of said cable.
Claim 8
Dependent Claim
22 words
The vehicle as claimed in claim 1, wherein control signals to control and monitor the vehicle are provided via an umbilical cable.
Claim 9
Dependent Claim
46 words
The vehicle as claimed in claim 1, wherein one or more remotely controlled grabber arms or manipulator arms are provided thereon for manipulating and carrying loads and said trim of said vehicle is adjusted for varying arm position and load weight by moving said guide means.
Claim 10
Dependent Claim
22 words
The vehicle as claimed in claim 1, wherein the guide means is longitudinally and transversely movable by way of hydraulic cylinder means.
Claim 11
Dependent Claim
64 words
The vehicle as claimed in claim 1, wherein instrumentation for measuring ambient conditions about the vehicle is provided, display means for said instrumentation being located in a waterproof container having a transparent portion through which said display means is visible, a video camera located within the vehicle beingadapted to be directed at said transparent portion to enable remote reading of said instrumentation display means.
Claim 12
Independent Claim
154 words
A method of operating a remotely operated vehicle of the type comprising thrusters for fore and aft propulsion, positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable having a clump weight attached to a free end thereof, said clump weight being sufficiently heavy to overcome the buoyancy of the positive buoyancy means, and said guide means being horizontally movable within the vehicle to maintain trim of the vehicle wherein the clump weight is selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.
Claim 13
Independent Claim
154 words
A method of operating a remotely operated vehicle of the type comprising thrusters for fore and aft propulsion, positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable having a clump weight attached to a free end thereof, said clump weight being sufficiently heavy to overcome the buoyancy of the positive buoyancy means, and said guide means being horizontally movable within the vehicle to maintain trim of the vehicle wherein the clump weight is selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.
Claim 14
Dependent Claim
133 words
A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle and two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicle's centre line and each being directed for substantially fore and aft thrust.
Claim 15
Dependent Claim
133 words
A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle and two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicle's centre line and each being directed for substantially fore and aft thrust.
Claim 16
Dependent Claim
187 words
A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof, the thrustors being located on opposite sides of the vehicle's centre line and each being directed for substantially fore and aft thrust, and one or more remotely controlled grabber arms or manipulator arms being provided on the vehicle for manipulating and carrying loads, the trim of the vehicle being adjusted for moving arm position and load weight by moving the guide means, and said guide means being longitudinally and transversely movable by way of hydraulic cylinder means.
Claim 17
Dependent Claim
187 words
A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof, the thrustors being located on opposite sides of the vehicle's centre line and each being directed for substantially fore and aft thrust, and one or more remotely controlled grabber arms or manipulator arms being provided on the vehicle for manipulating and carrying loads, the trim of the vehicle being adjusted for moving arm position and load weight by moving the guide means, and said guide means being longitudinally and transversely movable by way of hydraulic cylinder means.
Claim 18
Dependent Claim
192 words
A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide menas being horizontally movable within the vehicle to maintain the trim of the vehicle and two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicles's centre line and each being directed for substantially fore and aft thrust and wherein instrumentation for measuring ambient conditions about the vehicle is provided, display means for said instrumentation being located in a waterproof container having a transparent portion through which said display means is visible, a video camera located within the vehicle being adapted to be directed at said transparent portion to enable remote reading of said instrumentation display means.
Claim 19
Dependent Claim
192 words
A remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof such that, when said clump weight is made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the vertical position of the vehicle, from a seabed over which it is operating, can be adjusted by winding cable onto, or off from said winch, the guide menas being horizontally movable within the vehicle to maintain the trim of the vehicle and two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicles's centre line and each being directed for substantially fore and aft thrust and wherein instrumentation for measuring ambient conditions about the vehicle is provided, display means for said instrumentation being located in a waterproof container having a transparent portion through which said display means is visible, a video camera located within the vehicle being adapted to be directed at said transparent portion to enable remote reading of said instrumentation display means.
Claim 20
Independent Claim
186 words
A method of operating a remotely operated vehicle of the type comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof, said clump weight being made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposie sides of the vehicle's centre line and each being directed for substantially fore and aft thrust, and the clump weight being selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.
Claim 21
Independent Claim
186 words
A method of operating a remotely operated vehicle of the type comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof, said clump weight being made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposie sides of the vehicle's centre line and each being directed for substantially fore and aft thrust, and the clump weight being selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.
Claim 22
Independent Claim
246 words
A method of operating a remotely operated vehicle of the type comprising a remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof, said clump weight being made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicle's centre line and each being directed for substantially fore and aft thrust, one or more remotely controlled grabber arms or manipulator arms being provided on the vehicle for manipulating and carrying loads and the trim of the vehicle being adjusted for moving arm position and load weight by moving the guide means, the guide means being longitudinally and transversely movable by way of hydraulic cylinder means, and the clump weight being selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.
Claim 23
Independent Claim
246 words
A method of operating a remotely operated vehicle of the type comprising a remotely operated submersible vehicle comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof, said clump weight being made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicle's centre line and each being directed for substantially fore and aft thrust, one or more remotely controlled grabber arms or manipulator arms being provided on the vehicle for manipulating and carrying loads and the trim of the vehicle being adjusted for moving arm position and load weight by moving the guide means, the guide means being longitudinally and transversely movable by way of hydraulic cylinder means, and the clump weight being selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.
Claim 24
Independent Claim
240 words
A method of operating a remotely operated vehicle of the type comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof, said clump weight being made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicle's centre line and each being directed for substantially fore and aft thrust, instrumentation for measuring ambient conditions about the vehicle being provided with display means located in a waterproof container having a transparent portion through which said display means is visible, a video camera located within the vehicle being adapted to be directed at said transparent portion to enable remote reading of said instrumentation display means, and the clump weight being selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.
Claim 25
Independent Claim
240 words
A method of operating a remotely operated vehicle of the type comprising positive buoyancy means, a winch, a cable stored on said winch and passing through guide means, said cable being adapted to have a clump weight attached to a free end thereof, said clump weight being made sufficiently heavy to overcome the buoyancy of the positive buoyancy means, the guide means being horizontally movable within the vehicle to maintain the trim of the vehicle, two thrusters being provided on the vehicle for manoeuvring and positioning thereof the thrustors being located on opposite sides of the vehicle's centre line and each being directed for substantially fore and aft thrust, instrumentation for measuring ambient conditions about the vehicle being provided with display means located in a waterproof container having a transparent portion through which said display means is visible, a video camera located within the vehicle being adapted to be directed at said transparent portion to enable remote reading of said instrumentation display means, and the clump weight being selected to be only slightly heavier than the weight required to overcome the positive buoyancy means, the clump weight being wound in fully on its cable and the position of the clump weight being adjusted under the vehicle such that the vehicle assumes a bow up attitude whereby the thrusters provide thrust components in the vertical and horizontal directions, the vertical thrust component being used to lift the vehicle off the seabed.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1991-01-25 | 1991-07-27 | 1992-01-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1995-01-25 | 1995-07-27 | 1996-01-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1999-01-25 | 1999-07-27 | 2000-01-26 | $7700.00 | Window Closed / Lapsed |