EP2921445B1 - Connecting an underwater vehicle to a tether - Google Patents
Connecting an underwater vehicle to a tether Download PDFInfo
- Publication number
- EP2921445B1 EP2921445B1 EP15250004.7A EP15250004A EP2921445B1 EP 2921445 B1 EP2921445 B1 EP 2921445B1 EP 15250004 A EP15250004 A EP 15250004A EP 2921445 B1 EP2921445 B1 EP 2921445B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- tether
- drum
- pulley
- drive
- pulley system
- 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.)
- Not-in-force
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H51/00—Forwarding filamentary material
- B65H51/02—Rotary devices, e.g. with helical forwarding surfaces
- B65H51/04—Rollers, pulleys, capstans, or intermeshing rotary elements
- B65H51/08—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements
- B65H51/10—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements with opposed coacting surfaces, e.g. providing nips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H57/00—Guides for filamentary materials; Supports therefor
- B65H57/12—Tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/18—Constructional details
- B65H75/26—Arrangements for preventing slipping of winding
- B65H75/265—Reels with grooves or grooved elements inhibiting aligned or orderly winding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/18—Constructional details
- B65H75/30—Arrangements to facilitate driving or braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
- B65H75/425—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4489—Fluid motors
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- 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
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
Definitions
- the present invention relates to an apparatus for connection to an underwater vehicle by a tether.
- the present invention also relates to a method of unwinding a tether connected to an underwater vehicle from an underwater drum to allow movement of the vehicle.
- the present invention also relates to a method of re-winding a tether connected to a underwater vehicle onto an underwater drum.
- TMS tether management system
- WO 02/06146 A1 describes a tether management system which includes a drum and a sheave wheel and in which a tether is pulled in by turning the drum and is driven out by means of the driven sheave wheel.
- the document does not indicate a drum having a continuous groove defining a substantially helical surface.
- an apparatus for connection to an underwater vehicle by a tether comprising: a drum configured to store said tether such that said tether is unwound from said drum to allow said vehicle to move away from the apparatus; a pulley system configured to engage with said tether and unwind the tether from said drum; a pulley-drive operable in a forward mode to drive said pulley system for the unwinding of the tether and operable in a braking mode to resist the re-winding of said tether; and a drum-drive operable in a forward mode to drive said drum for the re-winding of said tether and operable in a braking mode to resist the unwinding of the tether, characterised in that: said drum has a continuous groove defining a substantially helical surface.
- the tether conveys power, control signals and communication signals.
- a method of unwinding a tether connected to an underwater vehicle from an underwater drum to allow movement of said vehicle comprising the steps of: driving a pulley system configured to engage with said tether so as to unwind said tether from said drum; and activating said drum so as to maintain transported tether between the drum and said pulley system in tension, characterised in that: said drum has a continuous groove defining a substantially helical surface.
- the pulley system includes a primary pulley defining a radius of curvature for the tether and configured to engage on an internal surface of the tether; and a plurality of support pulleys configured to engage with an external surface of the tether in opposition to said primary pulley.
- a method of rewinding a tether connected to an underwater vehicle, onto an underwater drum comprising the steps of: driving said drum so as to rewind said tether onto the drum; and activating a pulley system configured to engage with the tether so as to maintain transported tether between the pulley system and the drum in tension, characterised in that: said drum has a continuous groove defining a substantially helical surface.
- An apparatus 101 is shown in Figure 1 , and may be identified as a tether management system (TMS) for tethering an underwater vehicle 102 , possibly taking the form of a remotely operated vehicle receiving control signals from a control station within a support vessel 103 .
- TMS tether management system
- the tether management system 101 appears as if sitting on top of the underwater vehicle 102 and as such is sometimes referred to as a "tophat”.
- the support vessel 103 includes a launch and recovery system 104 , including a drum 105 , a swinging frame 106 and an umbilical cable 107 .
- a winch is configured to lift and load apparatus 101 off and on the support vessel 103 and in use the apparatus may operate at depths of up to four kilometre (4km).
- a drum 108 is configured to store a tether 109 , such that the tether 109 is unwound from the drum 108 to allow the vehicle 102 to move away from the apparatus.
- the vehicle 102 may travel in any direction away from the apparatus 101, typically up to a distance of one thousand five hundred metre (1500m).
- the support apparatus 101 is connected to the support vessel 103 by an umbilical cable 107 .
- the weight of apparatus 101 is sufficient to maintain the umbilical cable 107 in tension, thereby facilitating the spooling and unspooling of the umbilical cable 107 onto and off from the drum 105 .
- the tether management drum 108 has been activated thereby allowing tether 109 to be removed, such that the underwater vehicle 102 may move away from the tether management apparatus 101 .
- Remotely operated underwater vehicles such as vehicle 102
- vehicle 102 are often built with a large floatation pack on top of an aluminium chassis to provide buoyancy while tasks are being performed.
- a tooling skid may be fitted to the bottom of the vehicle to accommodate a variety of sensors and tooling packages.
- Light components tend to be raised towards the top of the vehicle, with heavy components being at the bottom.
- Electrical components are contained within oil-filled watertight containers to protect them from water corrosion and water pressure.
- the re-winding of tether 109 is made problematic due its buoyancy. Unlike umbilical cable 107 , the tether 109 will often be slack, due to the vehicle 102 going out to an extreme distance and then retracting back towards the tether management apparatus. Thus, this slack must be taken up before the tether 109 is again placed in tension. This problem does not occur with the umbilical cable 107 because this always remains substantially in tension due to the weight of the tether management apparatus 101 .
- the tether 109 is not merely a link between the tether management apparatus 101 and the vehicle 102 .
- the umbilical 107 provides a voltage of anything up to four kilovolts (4kv) and experience suggests that a voltage of one kilovolt per kilometre (1kv/km) of cable is required in order to guarantee the availability of power at the tether management system 101 and the remote vehicle 102 .
- the tether also conveys control signals to the vehicle 102 , relayed via the umbilical 107 and the tether management apparatus 101 and returns data and images back to the support vessel 103.
- the tether 109 represents a complex assembly of materials but given the requirement for buoyancy, the tether 109 tends to be less robust than the umbilical cable 107 .
- the tether management system allows better access to plant without bringing the support vessel 103 too close. Furthermore, in some installations a minimum distance must be maintained between vessels and operational plant. Furthermore, the tether management system reduces the extent to which the support vessel 103 is required to move. Its presence also isolates the remote vehicle 102 from natural movements of the support vessel 103 , possibly due to swell.
- a frame 301 of the tether management system 101 is illustrated in Figure 3 .
- Tether drum 302 has been located within the frame 301 .
- drum 302 has a helical surface 303 .
- the helical surface is provided by a helical sleeve applied over a substantially smooth drum.
- a frame 301 supports a tether drum 302 .
- the tether drum 302 supports a tether such that the apparatus may be connected to an underwater vehicle as shown in Figure 2 .
- the tether drum 302 stores the tether 109 such that the tether 109 may be unwound from the tether drum 302 to allow an underwater vehicle (such as vehicle 102 ) to move away from the apparatus.
- a pulley system 403 is configured to engage with the tether 109 so as to allow the tether to be unwound from the drum.
- a pulley-drive is provided, for driving the pulley system 403 , in a forward mode to drive the pulley system for the unwinding of the tether thus moving the tether in the direction of arrow 401 and ultimately allowing the tether to exit the apparatus from an exit port 402 .
- the pulley-drive is operable in a breaking mode to resist the re-winding of the tether.
- a drum drive is operable in a forward mode to drive the tether drum 302 for the re-winding of the tether, thereby moving the tether in the direction of arrow 402 .
- the drum-drive is also operable in a breaking mode to resist the unwinding of the tether.
- the pulley-drive is operable in its forward mode, thereby pulling the tether away from the drum.
- the drum 302 is in its breaking mode, applying force in the direction of arrow 402 .
- the driving force of the pulley ensures that the tether does move in the direction of arrow 401 , against the breaking force of the drum-drive.
- the tether between the drum 302 and the pulley system 403 remains in tension, thereby ensuring that the tether is removed from the drum in a smooth operation.
- the tether moves in the direction of arrow 402 , thereby returning the tether to the drum.
- the pulley system 403 operates in its breaking mode, applying a reduced degree of force in the direction of arrow 401 , thus resisting the movement of the drum 302 .
- Drum 302 continues to move and the tether continues to be wound onto the drum.
- the pulley system 403 includes a primary pulley 409 defining a radius of curvature 404 for the tether 109 as it moves. This radius of curvature is sufficient to ensure that the tether 109 does not experience excessive bending forces which may result in tether damage and failure.
- a plurality of support pulleys are also provided which, in this embodiment, include a first support pulley 405 and a second support pulley 406 .
- the support pulleys 405 and 406 are configured to engage with an external surface 407 of the tether 109 in opposition to the primary pulley 409 .
- the tether 109 is held securely between the primary pulley 409 and the secondary pulleys 405 , 406 .
- This overall region of support may be referred to as a sheave and, given its driven nature, it may collectively be referred to as a power sheave.
- the apparatus 101 provides for the tether to exit from exit port 402 in a substantially vertical direction.
- a flexible support conduit 408 supports the tether as it passes between the pulley system and the exit port 402 .
- the conduit 408 is fabricated from a plurality of interlocking portions, thereby facilitating flexibility during assembly and maintenance procedures.
- pulley-drive 403 is driven by a hydraulic motor 501 .
- drum 302 is driven by a second hydraulic motor 502 .
- An electric motor receives electrical power from the umbilical 107 and uses this to apply pressure to a hydraulic fluid circulated within a hydraulic circuit; a schematic version of which is shown in Figure 5 .
- Hydraulic fluid from the hydraulic pump is supplied to a valve 503 from a main inlet 504 .
- Valve 503 may receive a first pilot signal on an input line 505 , resulting in pressure being supplied to line 506 .
- the valve 503 may also receive a pilot signal on input line 507 resulting in pressure being applied to output line 508 .
- the valve 503 may also remain in a rest condition, resulting in neither line 506 nor line 508 being energised.
- a pilot signal on line 505 represents a spool out condition, forcing the tether out of orifice 401 through movement in the direction of arrow 401 .
- a valve 509 directs high pressure fluid to the pulley-drive 501 causing the pulley-drive to pull tether away from drum 302 .
- a further valve 510 supplies a lower breaking pressure to the drum-drive 502 .
- the hydraulic system of Figure 5 allows the apparatus to be deployed in accordance with two methods of operation.
- a tether is connected to a underwater vehicle from an underwater drum 302 to allow movement of the vehicle.
- a pulley system 403 is driven, configured to engage with the tether so as to unwind the tether from the drum.
- the drum is also activated (at lower pressure) so as to maintain transported tether 109 between the drum and the pulley system in tension.
- a second method of operation is provided for the re-winding of the tether, with the tether connected to an underwater vehicle.
- the tether rewinds onto underwater drum 302 .
- the drum is driven so as to re-wind the tether onto the drum.
- pulley system 403 is also activated so as to engage with the tether, to maintain transported tether 109 between the pulley system 403 and the drum 302 in tension.
- the drum 302 has a continuous groove defining a substantially helical surface.
- a first layer of the rewound tether may be forced into this groove, due to the activation of the pulley system maintaining the tether in tension.
- a second layer may be rewound so as to fall within grooves defined by the first layer.
- this process may continue until all of the tether has been rewound onto the tether drum 302 .
- the underwater vehicle is then restrained by a spring loaded device when the tether has been fully rewound. In this way, it is possible for the underwater vehicle to be restrained in the absence of power but for the vehicle to be released, activation of the spring loaded device is required.
- hydraulic pressure is used to effect this release in response to the spool-out pilot signal being generated.
- pulley 409 An example of pulley 409 is illustrated in Figure 6 .
- This primary pulley defines a groove 601 configured to make contact with tether 109 such that force may be applied in the direction of arrow 401 in order to remove tether from cable 107.
- the pulley system effectively maintains a tight grip on the tether 109 , given that the tether is being maintained in tension by the activation pressure applied to drum-drive 502 .
- the profile of groove 601 is such that as the diameter of the tether 109 reduces, the tether is forced radially inwards, such that it is still held by the reducing width of groove 601 .
- pulley 409 is cast from polymer material, so as to enhance the frictional force between groove 601 and tether 109 .
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Description
- The present invention relates to an apparatus for connection to an underwater vehicle by a tether. The present invention also relates to a method of unwinding a tether connected to an underwater vehicle from an underwater drum to allow movement of the vehicle. The present invention also relates to a method of re-winding a tether connected to a underwater vehicle onto an underwater drum.
- It is known to use a tether management system (TMS) in which a buoyant tether is winched onto a submersed drum, so that an underwater vehicle may travel freely around the tether management system, performing required duties without being subject to movements occurring to a support vessel and without requiring the support vessel to move.
- Given that the tether is buoyant in water, the underwater vehicle does not apply tension to the tether, therefore the spooling of the tether may become difficult. In known systems, additional mechanisms are deployed to position the tether upon a particular region of the cable drum. However, these mechanisms are subject to failure and a degree of expertise is required during a reconnection process.
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WO 02/06146 A1 - According to a first aspect of the present invention, there is provided an apparatus for connection to an underwater vehicle by a tether, comprising: a drum configured to store said tether such that said tether is unwound from said drum to allow said vehicle to move away from the apparatus; a pulley system configured to engage with said tether and unwind the tether from said drum; a pulley-drive operable in a forward mode to drive said pulley system for the unwinding of the tether and operable in a braking mode to resist the re-winding of said tether; and a drum-drive operable in a forward mode to drive said drum for the re-winding of said tether and operable in a braking mode to resist the unwinding of the tether, characterised in that: said drum has a continuous groove defining a substantially helical surface.
- In an embodiment, the tether conveys power, control signals and communication signals.
- According to a second aspect of the present invention, there is provided a method of unwinding a tether connected to an underwater vehicle from an underwater drum to allow movement of said vehicle, said method comprising the steps of: driving a pulley system configured to engage with said tether so as to unwind said tether from said drum; and activating said drum so as to maintain transported tether between the drum and said pulley system in tension, characterised in that: said drum has a continuous groove defining a substantially helical surface.
- In an embodiment, the pulley system includes a primary pulley defining a radius of curvature for the tether and configured to engage on an internal surface of the tether; and a plurality of support pulleys configured to engage with an external surface of the tether in opposition to said primary pulley.
- According to a third aspect of the present invention, there is provided a method of rewinding a tether connected to an underwater vehicle, onto an underwater drum, said method comprising the steps of: driving said drum so as to rewind said tether onto the drum; and activating a pulley system configured to engage with the tether so as to maintain transported tether between the pulley system and the drum in tension, characterised in that: said drum has a continuous groove defining a substantially helical surface.
- The invention will now be described by way of example only with reference to the accompanying drawings, of which:
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Figure 1 shows a tether management system embodying the present invention; -
Figure 2 shows the tether connected to an underwater vehicle; -
Figure 3 details the tether management apparatus; -
Figure 4 shows a cross-section of the tether management apparatus; -
Figure 5 shows a hydraulic circuit; and -
Figure 6 details a portion of a pulley in contact with a tether. - An
apparatus 101 is shown inFigure 1 , and may be identified as a tether management system (TMS) for tethering anunderwater vehicle 102, possibly taking the form of a remotely operated vehicle receiving control signals from a control station within asupport vessel 103. - In the configuration shown in
Figure 1 , thetether management system 101 appears as if sitting on top of theunderwater vehicle 102 and as such is sometimes referred to as a "tophat". Thesupport vessel 103 includes a launch andrecovery system 104, including adrum 105, a swingingframe 106 and anumbilical cable 107. A winch is configured to lift and loadapparatus 101 off and on thesupport vessel 103 and in use the apparatus may operate at depths of up to four kilometre (4km). - Within the
apparatus 101, adrum 108 is configured to store atether 109, such that thetether 109 is unwound from thedrum 108 to allow thevehicle 102 to move away from the apparatus. Thevehicle 102 may travel in any direction away from theapparatus 101, typically up to a distance of one thousand five hundred metre (1500m). - As illustrated in
Figure 2 , thesupport apparatus 101 is connected to thesupport vessel 103 by anumbilical cable 107. The weight ofapparatus 101, even when submerged, is sufficient to maintain theumbilical cable 107 in tension, thereby facilitating the spooling and unspooling of theumbilical cable 107 onto and off from thedrum 105. - The
tether management drum 108 has been activated thereby allowingtether 109 to be removed, such that theunderwater vehicle 102 may move away from thetether management apparatus 101. - Remotely operated underwater vehicles, such as
vehicle 102, are often built with a large floatation pack on top of an aluminium chassis to provide buoyancy while tasks are being performed. A tooling skid may be fitted to the bottom of the vehicle to accommodate a variety of sensors and tooling packages. Light components tend to be raised towards the top of the vehicle, with heavy components being at the bottom. Electrical components are contained within oil-filled watertight containers to protect them from water corrosion and water pressure. - In the oil industry, crews typically work two twelve-hour shifts and the
vehicle 102 itself may be underwater for most of this time. Failure of thetether management apparatus 101 is highly undesirable, given that facilities for effecting repairs at sea are limited and system downtimes incur significant costs. It is therefore highly undesirable for problems to occur due to the mis-spooling oftether 109 when theunderwater vehicle 102 is being brought back to thetether management apparatus 101 at the end of a shift. - As shown in
Figure 2 , the re-winding oftether 109 is made problematic due its buoyancy. Unlikeumbilical cable 107, thetether 109 will often be slack, due to thevehicle 102 going out to an extreme distance and then retracting back towards the tether management apparatus. Thus, this slack must be taken up before thetether 109 is again placed in tension. This problem does not occur with theumbilical cable 107 because this always remains substantially in tension due to the weight of thetether management apparatus 101. - The
tether 109 is not merely a link between thetether management apparatus 101 and thevehicle 102. Theumbilical 107 provides a voltage of anything up to four kilovolts (4kv) and experience suggests that a voltage of one kilovolt per kilometre (1kv/km) of cable is required in order to guarantee the availability of power at thetether management system 101 and theremote vehicle 102. - The tether also conveys control signals to the
vehicle 102, relayed via the umbilical 107 and thetether management apparatus 101 and returns data and images back to thesupport vessel 103. Thus, thetether 109 represents a complex assembly of materials but given the requirement for buoyancy, thetether 109 tends to be less robust than theumbilical cable 107. Furthermore, it is undesirable for excessive unnecessary lengths of tether to be released, given that this will cause additional drag when underwater currents are present. - In many applications, it is not possible to use a free swimming underwater vehicle connected directly to the
support vessel 103. The tether management system allows better access to plant without bringing thesupport vessel 103 too close. Furthermore, in some installations a minimum distance must be maintained between vessels and operational plant. Furthermore, the tether management system reduces the extent to which thesupport vessel 103 is required to move. Its presence also isolates theremote vehicle 102 from natural movements of thesupport vessel 103, possibly due to swell. - A
frame 301 of thetether management system 101 is illustrated inFigure 3 . Tetherdrum 302 has been located within theframe 301. In this embodiment,drum 302 has ahelical surface 303. In this embodiment, the helical surface is provided by a helical sleeve applied over a substantially smooth drum. - The
management system 101 identified inFigure 1 is detailed inFigure 4 . As previously described, aframe 301 supports atether drum 302. Thetether drum 302 supports a tether such that the apparatus may be connected to an underwater vehicle as shown inFigure 2 . Thetether drum 302 stores thetether 109 such that thetether 109 may be unwound from thetether drum 302 to allow an underwater vehicle (such as vehicle 102) to move away from the apparatus. - A
pulley system 403 is configured to engage with thetether 109 so as to allow the tether to be unwound from the drum. A pulley-drive is provided, for driving thepulley system 403, in a forward mode to drive the pulley system for the unwinding of the tether thus moving the tether in the direction ofarrow 401 and ultimately allowing the tether to exit the apparatus from anexit port 402. In addition, the pulley-drive is operable in a breaking mode to resist the re-winding of the tether. - A drum drive is operable in a forward mode to drive the
tether drum 302 for the re-winding of the tether, thereby moving the tether in the direction ofarrow 402. Furthermore, the drum-drive is also operable in a breaking mode to resist the unwinding of the tether. Thus, when thetether 301 moves in the direction ofarrow 401, the pulley-drive is operable in its forward mode, thereby pulling the tether away from the drum. However, while this occurs, thedrum 302 is in its breaking mode, applying force in the direction ofarrow 402. The driving force of the pulley ensures that the tether does move in the direction ofarrow 401, against the breaking force of the drum-drive. However, with these forces operating in opposite directions, the tether between thedrum 302 and thepulley system 403 remains in tension, thereby ensuring that the tether is removed from the drum in a smooth operation. - With the drum-drive operable in a forward mode, the tether moves in the direction of
arrow 402, thereby returning the tether to the drum. Thepulley system 403 operates in its breaking mode, applying a reduced degree of force in the direction ofarrow 401, thus resisting the movement of thedrum 302.Drum 302 continues to move and the tether continues to be wound onto the drum. However, it is not possible for the tether to bunch or become slack, because the length of tether between thedrum 302 and thepulley system 403 remains in tension. - The
pulley system 403 includes aprimary pulley 409 defining a radius ofcurvature 404 for thetether 109 as it moves. This radius of curvature is sufficient to ensure that thetether 109 does not experience excessive bending forces which may result in tether damage and failure. - A plurality of support pulleys are also provided which, in this embodiment, include a
first support pulley 405 and asecond support pulley 406. The support pulleys 405 and 406 are configured to engage with anexternal surface 407 of thetether 109 in opposition to theprimary pulley 409. Thus, in operation, thetether 109 is held securely between theprimary pulley 409 and thesecondary pulleys - The
apparatus 101 provides for the tether to exit fromexit port 402 in a substantially vertical direction. Aflexible support conduit 408 supports the tether as it passes between the pulley system and theexit port 402. In an embodiment, theconduit 408 is fabricated from a plurality of interlocking portions, thereby facilitating flexibility during assembly and maintenance procedures. - In an embodiment, pulley-
drive 403 is driven by ahydraulic motor 501. Similarly,drum 302 is driven by a secondhydraulic motor 502. An electric motor receives electrical power from the umbilical 107 and uses this to apply pressure to a hydraulic fluid circulated within a hydraulic circuit; a schematic version of which is shown inFigure 5 . - Hydraulic fluid from the hydraulic pump is supplied to a
valve 503 from amain inlet 504.Valve 503 may receive a first pilot signal on aninput line 505, resulting in pressure being supplied toline 506. Thevalve 503 may also receive a pilot signal oninput line 507 resulting in pressure being applied tooutput line 508. Thevalve 503 may also remain in a rest condition, resulting in neitherline 506 norline 508 being energised. - A pilot signal on
line 505 represents a spool out condition, forcing the tether out oforifice 401 through movement in the direction ofarrow 401. Avalve 509 directs high pressure fluid to the pulley-drive 501 causing the pulley-drive to pull tether away fromdrum 302. In addition, afurther valve 510 supplies a lower breaking pressure to the drum-drive 502. Thus, the force applied to the pulley-drive 501 overcomes the force applied to the drum-drive 502 but with a positive pressure being applied to the drum-drive 502; the length of tether held between thedrum 302 and thepulley system 403 remains in tension. - The application of a pilot signal to input
line 507 results in pressure being applied toline 508. This in turn supplies driving pressure to drum-drive 502 via avalve 511. However, in addition, when the drum-drive receives a drive pressure, the pulley-drive 501 receives a lower breaking pressure via avalve 512. In this mode, the main drive pressure supplied to the drum-drive 502 results in a re-winding of the tether, with movement of the tether in the direction ofarrow 402. However, given the breaking pressure supplied to the pulley-drive 501, viavalve 512, thetether 109 between thepulley 403 and thedrum 302 remains in tension. With the application of this tension, thetether 109 is forced to re-wind onto thedrum 302 as intended, without the possibility of bunching or disruption. - Thus, the hydraulic system of
Figure 5 allows the apparatus to be deployed in accordance with two methods of operation. During an unwinding method, a tether is connected to a underwater vehicle from anunderwater drum 302 to allow movement of the vehicle. Apulley system 403 is driven, configured to engage with the tether so as to unwind the tether from the drum. Furthermore, the drum is also activated (at lower pressure) so as to maintain transportedtether 109 between the drum and the pulley system in tension. - A second method of operation is provided for the re-winding of the tether, with the tether connected to an underwater vehicle. The tether rewinds onto
underwater drum 302. The drum is driven so as to re-wind the tether onto the drum. Furthermore,pulley system 403 is also activated so as to engage with the tether, to maintain transportedtether 109 between thepulley system 403 and thedrum 302 in tension. - As shown in
Figure 3 , in an embodiment, thedrum 302 has a continuous groove defining a substantially helical surface. In this way, a first layer of the rewound tether may be forced into this groove, due to the activation of the pulley system maintaining the tether in tension. After the first layer of the rewound cable has been positioned, due to the presence of the helical groove, a second layer may be rewound so as to fall within grooves defined by the first layer. Thus, this process may continue until all of the tether has been rewound onto thetether drum 302. - In an embodiment, the underwater vehicle is then restrained by a spring loaded device when the tether has been fully rewound. In this way, it is possible for the underwater vehicle to be restrained in the absence of power but for the vehicle to be released, activation of the spring loaded device is required. In an embodiment, hydraulic pressure is used to effect this release in response to the spool-out pilot signal being generated.
- An example of
pulley 409 is illustrated inFigure 6 . This primary pulley defines agroove 601 configured to make contact withtether 109 such that force may be applied in the direction ofarrow 401 in order to remove tether fromcable 107. In an embodiment, the pulley system effectively maintains a tight grip on thetether 109, given that the tether is being maintained in tension by the activation pressure applied to drum-drive 502. - In an embodiment, the profile of
groove 601 is such that as the diameter of thetether 109 reduces, the tether is forced radially inwards, such that it is still held by the reducing width ofgroove 601. Furthermore, in an embodiment,pulley 409 is cast from polymer material, so as to enhance the frictional force betweengroove 601 andtether 109.
Claims (15)
- Apparatus (101) for connection to an underwater vehicle (102) by a tether (109), comprising:a drum (108, 302) configured to store said tether such that said tether is unwound from said drum to allow said vehicle to move away from the apparatus;a pulley system (403) configured to engage with said tether and unwind the tether from said drum;a pulley-drive (501) operable in a forward mode to drive said pulley system for the unwinding of the tether and operable in a braking mode to resist the re-winding of said tether; anda drum-drive (502) operable in a forward mode to drive said drum for the re-winding of said tether and operable in a braking mode to resist the unwinding of the tether, characterised in that:said drum has a continuous groove defining a substantially helical surface (303).
- The apparatus of claim 1, wherein said tether conveys power, control signals and communication signals.
- The apparatus of claim 2, connectable to a surface device (103) by an umbilical cable (107) wherein said power and said control signal are received from said umbilical cable.
- The apparatus of any of claims 1 to 3, wherein said underwater vehicle is a remotely controlled vehicle configured to receive control signal from said surface device.
- The apparatus of any one of claims 1 to 4, wherein said helical surface is provided by a helical sleeve applied over a substantially smooth drum.
- The apparatus of any of claims 1 to 5, wherein said pulley-drive includes a first hydraulic motor (501) and said drum drive includes a second hydraulic motor (502).
- The apparatus of claim 6, wherein:said pulley-drive receives a drive pressure and said drum-drive receives a lower braking pressure when unwinding the tether; andsaid drum-drive receives a drive pressure and said pulley-drive receives a lower braking pressure when rewinding said tether.
- A method of unwinding a tether (109) connected to an underwater vehicle (102) from an underwater drum (108, 302) to allow movement of said vehicle, said method comprising the steps of:driving a pulley system (403) configured to engage with said tether so as to unwind said tether from said drum; andactivating said drum so as to maintain transported tether between the drum and said pulley system in tension, characterised in that:said drum has a continuous groove defining a substantially helical surface.
- The method of claim 8, wherein said pulley system includes:a primary pulley (409) defining a radius of curvature (404) for the tether and configured to engage on an internal surface of the tether; anda plurality of support pulleys (405, 406) configured to engage with an external surface of the tether in opposition to said primary pulley.
- The method of claim 8 or claim 9, wherein said primary pulley defines a groove (601) and said groove is configured to maintain contact with the tether during tether shrinkage at depth.
- The method of any of claims 8 to 10, including an exit port (402) for allowing the unwinding of the tether from the apparatus in a substantially vertical direction, and a flexible support conduit (408) for supporting the tether between the pulley system and said exit port.
- A method of rewinding a tether (109) connected to an underwater vehicle (102), onto an underwater drum (108, 302), said method comprising the steps of:driving said drum so as to rewind said tether onto the drum; andactivating a pulley system (403) configured to engage with the tether so as to maintain transported tether between the pulley system and the drum in tension, characterised in that:said drum has a continuous groove defining a substantially helical surface (303).
- The method of claim 12, wherein a first layer of rewound tether is forced into said groove due to the activation of said pulley system maintaining the tether in tension.
- The method of claim 13, wherein said first layer of rewound tether defines a secondary helical groove and a second layer of rewound tether is forced into said secondary groove.
- The method of any of claims 12 to 14, wherein said underwater vehicle is restrained by a spring-loaded device when the tether has been fully re-wound.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1403694.1A GB2523600B (en) | 2014-03-01 | 2014-03-01 | Connecting an underwater vehicle to a tether |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2921445A1 EP2921445A1 (en) | 2015-09-23 |
EP2921445B1 true EP2921445B1 (en) | 2017-05-10 |
Family
ID=50490683
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15250004.7A Not-in-force EP2921445B1 (en) | 2014-03-01 | 2015-02-26 | Connecting an underwater vehicle to a tether |
Country Status (3)
Country | Link |
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US (1) | US20150246713A1 (en) |
EP (1) | EP2921445B1 (en) |
GB (1) | GB2523600B (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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NO20160328A1 (en) * | 2016-02-26 | 2017-02-13 | Oceaneering As | A system and method of operating an unmanned underwater vehicle |
CA3102427A1 (en) | 2018-06-05 | 2019-12-12 | Seahawk Robotics Inc. | Wirelessly controlled flying and submerging vehicle |
WO2023039296A1 (en) * | 2021-09-13 | 2023-03-16 | Diefendorf Dylan | Recovery methods for marine fishing equipment |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3843096A (en) * | 1970-11-07 | 1974-10-22 | E Wilson | Traction drum winch which exerts a predetermined constant tension on a cable |
JPH01176797A (en) * | 1987-12-31 | 1989-07-13 | Kayaba Ind Co Ltd | Cable winch mechanism |
FR2645360B1 (en) * | 1989-03-31 | 1994-03-25 | Ifremer | METHOD AND DEVICE FOR IN SITU BINDING A TRANSMISSION CABLE TO A CARRIER CABLE |
CH673274A5 (en) * | 1989-07-17 | 1990-02-28 | Kyburz Maschinenbau Ag | Rope winch with rotary drum - has driven pulley in contact with rope winding on and off drum |
JP2619173B2 (en) * | 1992-03-17 | 1997-06-11 | 株式会社大林組 | Device for winding and rewinding linear objects |
US6390012B1 (en) * | 1999-09-20 | 2002-05-21 | Coflexip, S.A. | Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle |
US6167831B1 (en) * | 1999-09-20 | 2001-01-02 | Coflexip S.A. | Underwater vehicle |
GB0017628D0 (en) * | 2000-07-18 | 2000-09-06 | Hydrovision Ltd | Fairlead |
ATE299126T1 (en) * | 2002-10-01 | 2005-07-15 | Kyburz Maschb Ag | WINDING DEVICE FOR WINDING AND UNWINDING A CABLE OF A CABLE WINCH |
US7134645B1 (en) * | 2003-02-05 | 2006-11-14 | Advanced Design Consulting Usa | Winch assembly for use with synthetic ropes |
US7331436B1 (en) * | 2003-03-26 | 2008-02-19 | Irobot Corporation | Communications spooler for a mobile robot |
DK3244485T3 (en) * | 2009-06-12 | 2019-12-09 | Rolls Royce Marine North America Inc | TOWED ANTENNA SYSTEM AND PROCEDURE |
US8167670B1 (en) * | 2010-09-20 | 2012-05-01 | The United States Of America As Represented By The Secretary Of The Navy | Blow-off float vehicle recovery apparatus |
JP6271420B2 (en) * | 2011-06-23 | 2018-01-31 | ブルーフィン・ロボティクス・コーポレーション | Dual-mode fiber optic cable system for remotely operated underwater work equipment |
JP6001085B2 (en) * | 2011-12-15 | 2016-10-05 | コリア インスティチュート オブ オーシャン サイエンス アンド テクノロジー | An articulated submarine robot having a combined movement function of walking and swimming, and a submarine exploration system using the same |
-
2014
- 2014-03-01 GB GB1403694.1A patent/GB2523600B/en not_active Expired - Fee Related
-
2015
- 2015-02-26 EP EP15250004.7A patent/EP2921445B1/en not_active Not-in-force
- 2015-02-26 US US14/632,058 patent/US20150246713A1/en not_active Abandoned
Also Published As
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GB201403694D0 (en) | 2014-04-16 |
EP2921445A1 (en) | 2015-09-23 |
GB2523600A (en) | 2015-09-02 |
GB2523600B (en) | 2016-07-06 |
US20150246713A1 (en) | 2015-09-03 |
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