초록 ▼

A remotely operated underwater vehicle for cleaning surfaces submerged in water, the underwater vehicle having a first side, a second side, a propulsion means, a plurality of trimming means, a first buoyancy means attached to the first side and a second buoyancy means attached to the second side. El

A remotely operated underwater vehicle for cleaning surfaces submerged in water, the underwater vehicle having a first side, a second side, a propulsion means, a plurality of trimming means, a first buoyancy means attached to the first side and a second buoyancy means attached to the second side. Elements of the plurality of trimming means are arranged on opposite sides of the centre of gravity of the vehicle and at least one of the plurality of trimming means has a movable mass and a displacement region into which the movable mass can move. The center of gravity of the vehicle is automatically shifted when the vehicle is accelerating or changes orientation, in which the first buoyancy means provides more buoyancy than the second buoyancy means such that the center of buoyancy is located above the center of gravity of the vehicle irrespective of the orientation of the vehicle.

대표청구항 ▼

1. A remotely operated underwater vehicle for carrying cleaning devices for cleaning of surfaces submerged in water, the underwater vehicle comprising a roll axis (x), a pitch axis (y), and a yaw axis (z), wherein all of the axes intersect a center of gravity of the underwater vehicle, the vehicle c

1. A remotely operated underwater vehicle for carrying cleaning devices for cleaning of surfaces submerged in water, the underwater vehicle comprising a roll axis (x), a pitch axis (y), and a yaw axis (z), wherein all of the axes intersect a center of gravity of the underwater vehicle, the vehicle comprising: a first side, a second side, a thruster, a plurality of trim tanks, a first buoyancy element attached to the first side in a plane parallel to an x-y plane of the vehicle and above the center of gravity, and a second buoyancy element attached to the second side in a plane parallel to an x-y plane of the vehicle and below the center of gravity,wherein at least two of the plurality of trim tanks are arranged on opposite sides of the center of gravity of the vehicle and at least one of the plurality of trim tanks comprises a movable mass and a displacement region into which the movable mass can move, whereby the center of gravity of the vehicle is automatically shifted due to gravity and inertia when the vehicle is accelerating or changes orientation in the water,wherein the first buoyancy element provides more buoyancy than the second buoyancy element, andwherein the center of buoyancy of the vehicle is located above the center of gravity of the vehicle irrespective of the orientation and attitude of the vehicle. 2. The underwater vehicle of claim 1, wherein a first pair of the plurality of trim tanks is arranged in a plane parallel to a y-z plane of the vehicle and a distance away from the center of gravity of the vehicle, and wherein a second pair of the plurality of trim tanks is arranged in an x-y plane of the vehicle and along an x axis. 3. The underwater vehicle of claim 2, wherein the first pair of the plurality of trim tanks comprises a plurality of tubular elements, each of the plurality of tubular elements extends substantially along a width of the vehicle. 4. The underwater vehicle of claim 3, wherein each of the first pair of the plurality of trim tanks comprises slanted regions interconnected by a level central region. 5. The underwater vehicle of claim 4, wherein the displacement region is located within the slanted regions. 6. The underwater vehicle of claim 2, wherein the first pair of the plurality of trim tanks is arranged in a region of the second buoyancy element. 7. The underwater vehicle of claim 2, wherein each of the trim tanks of the second pair of the plurality of trim tanks are arranged opposite each other with respect to the center of gravity of the vehicle and concentric with the x axis. 8. The underwater vehicle of claim 1, wherein the first buoyancy element is arranged on the first side of the vehicle and the second buoyancy element is arranged on the second side of the vehicle opposite the first side. 9. The underwater vehicle of claim 1, wherein each of the plurality of trim tanks comprises a closed and mutually isolated compartment, wherein each compartment is configured to be contain a substance having a specific gravity greater than 1. 10. The underwater vehicle of claim 9, wherein the substance comprises a liquid. 11. The underwater vehicle of claim 10, wherein the liquid is mercury. 12. The underwater vehicle of claim 9, wherein the substance comprises a powder. 13. The underwater vehicle of any claim 1, wherein the vehicle is a neutrally buoyant remotely operated vehicle (ROV). 14. The underwater vehicle claim 1, wherein the first buoyancy element and the second buoyancy element are configured to allow for neutral buoyancy of the vehicle in water during operation. 15. The underwater vehicle of claim 1 further comprising a cleaning device for cleaning a surface submerged in water, the cleaning device comprising: a disk member rotatably supported by a spindle and configured to rotate about a rotational axis (r) by a drive motor the disk member having a first side which is facing the surface when the device is in use, and a second side facing away from the surface, wherein the disk member further comprises: a plurality of nozzles for discharging liquid under pressure against the surface, the plurality of nozzles being fluidly connected to a liquid reservoir via a first conduit in the disk member and a second conduit in the spindle; anda plurality of through holes spaced at regular intervals and arranged symmetrically with respect to the rotational axis (r). 16. The underwater vehicle of claim 15 further comprising: a cleaning apparatus having a plurality of cleaning devices, each of the plurality of cleaning devices being connected to a central unit comprising a liquid intake opening and a liquid return opening, the liquid intake opening being fluidly connected to a respective liquid discharge opening and the liquid return opening being fluidly connected to the liquid reservoir.