Optimization of tool orientation for improving the cleaning efficiency of offshore jacket-cleaning systems

Yu, Fujie; Wang, Yao; Chen, Yuan

doi:10.1016/j.apor.2021.102687

Cited by 10 publications

(3 citation statements)

References 23 publications

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“…Liu Fei-fei [5] designed a water jet jacket Marine biological wall cleaning device held by an ROV robot arm, and conducted a cleaning test. Yu F et al [6]. designed a cavitation jet cleaning system carried by ROV.…”

Section: Introductionmentioning

confidence: 99%

Structure Design Of ROV-Based MOPU Platform Pin Hole Spin Cleaning Device

Hou

2024

HSET

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The pile legs of the MOPU platform have been submerged in seawater for a long time, and there are a large number of Marine organisms on the surface, which has a negative impact on the stability of the platform and needs to be cleaned regularly. Most of the existing jacket cleaning technologies are aimed at cleaning the outer surface, and there are few studies on cleaning the Marine organisms attached to the pin holes of the pile legs of MOPU platform. In order to solve the above problems, this paper firstly designs a spin-type pin hole cleaning device based on underwater wall-climbing robot by drawing lessons from domestic and foreign experience. At the same time, the Fluent simulation of three commonly used cavitation water jet nozzles is carried out, and the most suitable nozzle type for pin hole cleaning is selected from the organ pipe type, shear type and corner cavitation nozzles. In the actual operation, the water temperature and depth around the ROV are changing, so the simulation needs to consider the influence of temperature and depth changes. In this paper, a reasonable point is put forward for the structural design of the spin cavitation cleaning device. The simulation results show that the corner cavitation nozzle should be selected in the pinhole cleaning operation.

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Section: Introductionmentioning

confidence: 99%

Structure Design Of ROV-Based MOPU Platform Pin Hole Spin Cleaning Device

Hou

2024

HSET

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“…However, the overall structure of the robot was relatively complex, which easily affected the cleaning speed and stability during the robot operation. At Shandong University, Yu Fujie et al [28] designed an underwater cleaning robot with a manipulator for an offshore jacket called ROVMS. The ROVMS was used to generate the adsorption force through the electromagnetic adsorption unit, and the ROVMS could maintain its distance from the surface to be cleaned.…”

Section: Introductionmentioning

confidence: 99%

Application of Multi-Cylinder Synchronous Control for Telescopic Mechanism of Marine Steel Pile Cleaning Equipment

Li¹,

Nan

et al. 2023

JMSE

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In order to clean up marine fouling attached to marine steel pile, this paper proposed an innovative configuration scheme of the marine steel pile cleaning equipment by the scraping method and its telescopic mechanism by applying a multi-cylinder synchronous control strategy to the cleaning equipment, and produced a test prototype of the cleaning equipment that could solve the problem of cleaning equipment eccentricity and tilt in the field of ocean engineering. Based on the MATLAB Simulink module, a simulation model of the operation process of the telescopic mechanism of the marine steel pile cleaning equipment was established to complete the evaluation of the multi-cylinder synchronous control performance under multiple working conditions. Through the test, the synchronous working performance of the telescopic mechanism of the cleaning equipment under the no-load condition was preliminarily verified. The test results showed that under the no-load condition, the relative errors between the three cylinders and the target displacement were 0.8%, 0.4%, and 0.2%, respectively, and the cleaning equipment could reach the specified working position at the given working speed. The displacement synchronization error between each cylinder was 0.7 mm, 0.7 mm, and 0.6 mm, respectively, and the displacement synchronization error was controlled within 1 mm. The telescopic mechanism had good synchronization, which can ensure the stability and prevent the eccentricity and tilt during the cleaning equipment operation as well as provide a valuable reference for the manufacturing of cleaning equipment.

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“…Underwater manipulators comprise multiple groups of rigid bodies, which are connected through a series of joints. Some underwater manipulators are equipped with specialized equipment such as underwater fill lights and cameras, can perform tasks that include cleaning and opening cables [9,10], inspecting underwater surfaces, and performing other manual tasks [11][12][13][14]. Similarly, there are many motion controls for underwater manipulators [15][16][17][18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Multiple Bio-Inspired Father–Son Underwater Robot for Underwater Target Object Acquisition and Identification

Guo

et al. 2021

Micromachines

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Underwater target acquisition and identification performed by manipulators having broad application prospects and value in the field of marine development. Conventional manipulators are too heavy to be used for small target objects and unsuitable for shallow sea working. In this paper, a bio-inspired Father–Son Underwater Robot System (FURS) is designed for underwater target object image acquisition and identification. Our spherical underwater robot (SUR), as the father underwater robot of the FURS, has the ability of strong dynamic balance and good maneuverability, can realize approach the target area quickly, and then cruise and surround the target object. A coiling mechanism was installed on SUR for the recycling and release of the son underwater robot. A Salamandra-inspired son underwater robot is used as the manipulator of the FURS, which is connected to the spherical underwater robot by a tether. The son underwater robot has multiple degrees of freedom and realizes both swimming and walking movement modes. The son underwater robot can move to underwater target objects. The vision system is installed to enable the FURS to acquire the image information of the target object with the aid of the camera, and also to identify the target object. Finally, verification experiments are conducted in an indoor water tank and outdoor swimming pool conditions to verify the effectiveness of the proposed in this paper.

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Optimization of tool orientation for improving the cleaning efficiency of offshore jacket-cleaning systems

Cited by 10 publications

References 23 publications

Structure Design Of ROV-Based MOPU Platform Pin Hole Spin Cleaning Device

Structure Design Of ROV-Based MOPU Platform Pin Hole Spin Cleaning Device

Application of Multi-Cylinder Synchronous Control for Telescopic Mechanism of Marine Steel Pile Cleaning Equipment

Multiple Bio-Inspired Father–Son Underwater Robot for Underwater Target Object Acquisition and Identification

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