HRP20220773T1 - Unmanned surface vessel for remotely operated underwater vehicle operations - Google Patents

Unmanned surface vessel for remotely operated underwater vehicle operations Download PDF

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Publication number
HRP20220773T1
HRP20220773T1 HRP20220773TT HRP20220773T HRP20220773T1 HR P20220773 T1 HRP20220773 T1 HR P20220773T1 HR P20220773T T HRP20220773T T HR P20220773TT HR P20220773 T HRP20220773 T HR P20220773T HR P20220773 T1 HRP20220773 T1 HR P20220773T1
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HR
Croatia
Prior art keywords
vessel
rov
unmanned
control system
unmanned surface
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Application number
HRP20220773TT
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Croatian (hr)
Inventor
Oskar Levander
Sauli Petteri SIPILÄ
Mark CALLAWAY
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Kongsberg Maritime As
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Application filed by Kongsberg Maritime As filed Critical Kongsberg Maritime As
Publication of HRP20220773T1 publication Critical patent/HRP20220773T1/en

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Classifications

    • 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
    • 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
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00—Hulls characterised by their structure or component parts
    • B63B3/14—Hull parts
    • B63B2003/147—Moon-pools, e.g. for offshore drilling vessels
    • 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
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • 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
    • 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
    • B63G2008/005—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
    • 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
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

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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)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Catching Or Destruction (AREA)
  • Containers And Packaging Bodies Having A Special Means To Remove Contents (AREA)
  • Toys (AREA)

Claims (19)

1. Površinsko plovilo bez posade za upravljanje podvodnim vozilom na daljinsko upravljanje (ROV), te površinsko plovilo bez posade sadrži: - ROV, - uređaj za postavljanje i povrat (402) za raspoređivanje ROV-a iz površinskog plovila bez posade u vodu i povrat ROV-a iz vode u površinsko plovilo bez posade, i - kontrolnu jedinicu plovila (500) koja kontrolira postavljanje i povrat ROV-a, te rad ROV-a, i kretanje površinskog plovila bez posade, a dinamički sustav za upravljanje pozicioniranjem (506) kontrolira položaj i određuje kada i gdje se plovilo bez posade treba pomicati na temelju mnoštva ulaznih parametara, pri čemu mnoštvo ulaznih parametara uključuje parametre koji se odnose na ROV tijekom rada ROV-a, a parametri koji se odnose na ROV sadrže radni položaj ROV-a, naznačeno time što mnoštvo ulaznih parametara također obuhvaća parametre površinskog prometa, - pri čemu je dinamički sustav za upravljanje pozicioniranjem (506) konfiguriran da daje prioritet održavanju radnog položaja ROV-a prilikom upravljanja položajem i određivanjem kada i gdje se plovilo bez posade treba premjestiti i - dinamički sustav za upravljanje pozicioniranjem (506) nadalje sadrži bazu podataka koja sadrži navigacijska pravila i procjenjuje parametre površinskog prometa s obzirom na navigacijska pravila pri određivanju kada i gdje se plovilo treba premjestiti.1. An unmanned surface vessel for the operation of a remotely operated underwater vehicle (ROV), and an unmanned surface vessel contains: - ROV, - a deployment and recovery device (402) for deploying the ROV from the unmanned surface vessel into the water and returning the ROV from the water to the unmanned surface vessel, and - the vessel control unit (500) which controls the deployment and return of the ROV, and the operation of the ROV, and the movement of the unmanned surface vessel, and the dynamic positioning control system (506) controls the position and determines when and where the unmanned vessel should move based on a plurality of input parameters, wherein the plurality of input parameters includes parameters related to the ROV during operation of the ROV, and the parameters related to the ROV include an operating position of the ROV, wherein the plurality of input parameters also includes surface traffic parameters , - wherein the dynamic positioning control system (506) is configured to prioritize maintaining the operating position of the ROV when controlling the position and determining when and where the unmanned vessel should be moved and - the dynamic positioning management system (506) further comprises a database containing navigational rules and evaluates surface traffic parameters with respect to the navigational rules when determining when and where the vessel should be moved. 2. Plovilo prema patentnom zahtjevu 1, naznačeno time što mnoštvo ulaznih parametara obuhvaća parametre koji se odnose na ROV tijekom rada ROV-a, te parametri koji se odnose na ROV tijekom rada ROV-a sadrže najmanje jedan od: - potrošenu dužinu priveza, - napetost na privezu između plovila i ROV-a, - potrošenu duljinu pupčanog kabela između ROV-a i sustava upravljanja privezom, i - napetost na pupčanom kabelu između ROV-a i sustava upravljanja privezom.2. The vessel according to patent claim 1, characterized in that the plurality of input parameters includes parameters related to the ROV during the operation of the ROV, and the parameters related to the ROV during the operation of the ROV include at least one of: - the used length of the mooring, - tension on the mooring between the vessel and the ROV, - the consumed length of the umbilical cable between the ROV and the mooring control system, i - tension on the umbilical cable between the ROV and the mooring control system. 3. Plovilo prema patentnom zahtjevu 1, naznačeno time što mnoštvo ulaznih parametara sadrži najmanje jedan od: - meteorološke podatke, - podatke o okolišu, - kretanje površinskog plovila, - položaj plovila, i - elektroničke navigacijske karte.3. Vessel according to patent claim 1, characterized in that the set of input parameters contains at least one of: - meteorological data, - environmental data, - surface vessel movement, - position of the vessel, i - electronic navigation charts. 4. Plovilo prema patentnom zahtjevu 1, naznačeno time što se ROV postavlja i vraća kroz najmanje jedno od: - bazu površinskog plovila bez posade ispod vodene linije, - bočnu stranu površinskog plovila bez posade, i - gornju stranu površinskog plovila bez posade.4. Vessel according to claim 1, characterized in that the ROV is deployed and returned through at least one of: - unmanned surface vessel base below the waterline, - the side of the unmanned surface vessel, i - the upper side of an unmanned surface vessel. 5. Plovilo prema patentnom zahtjevu 1, naznačeno time što dalje sadrži zatvoreni prostor za skladištenje ROV-a.5. The vessel according to claim 1, characterized in that it further contains a closed space for storing the ROV. 6. Plovilo prema patentnom zahtjevu 5, naznačeno time što uređaj za postavljanje i povrat u položaju mirovanja smješten unutar zatvorenog prostora.6. A vessel according to patent claim 5, characterized in that the device for placing and returning to the rest position is located inside a closed space. 7. Plovilo prema patentnom zahtjevu 1, naznačeno time što se ROV postavlja pomoću pupčanog kabela koji nosi teret spojenog na sustav upravljanja privezom.7. A vessel according to claim 1, characterized in that the ROV is deployed by means of a load-carrying umbilical cable connected to a mooring control system. 8. Plovilo prema patentnom zahtjevu 1, naznačeno time što se ROV postavlja korištenjem neutralnog uzgonskog priveza.8. Vessel according to claim 1, characterized in that the ROV is deployed using a neutral buoyancy mooring. 9. Plovilo prema patentnom zahtjevu 1, naznačeno time što je uređaj za postavljanje i povrat automatizirani sustav za lansiranje i povrat (LARS).9. A vessel according to claim 1, characterized in that the deployment and recovery device is an automated launch and recovery system (LARS). 10. Plovilo prema patentnom zahtjevu 1, naznačeno time što dalje sadrži redundantni pogonski i upravljački sustav.10. The vessel according to patent claim 1, characterized in that it further contains a redundant drive and control system. 11. Plovilo prema patentnom zahtjevu 1, naznačeno time što se rad površinskog plovila bez posade provodi autonomno pomoću upravljačke jedinice plovila.11. Vessel according to patent claim 1, characterized in that the operation of the unmanned surface vessel is carried out autonomously by means of the vessel's control unit. 12. Plovilo prema patentnom zahtjevu 1, naznačeno time što se površinskim plovilom bez posade upravlja iz kopnene kontrolne postaje.12. Vessel according to claim 1, characterized in that the unmanned surface vessel is controlled from a land control station. 13. Plovilo prema patentnom zahtjevu 1, naznačeno time što dalje sadrži spojna sredstva konfigurirana za povezivanje sa sustavom za sustavom za lansiranje i povrat na drugom plovilu ili instalaciji na obali.13. The vessel of claim 1, further comprising coupling means configured to connect to a launch and recovery system on another vessel or shore installation. 14. Kontroler površinskog plovila bez posade (500), koji sadrži - modul kontrolera propulzije (505) za kontrolu kretanja površinskog plovila bez posade, - modul za postavljanje i povrat (503) za kontrolu postavljanja ROV-a s površinskog plovila bez posade u vodu i povrat ROV-a iz vode u površinsko plovilo bez posade, i - radni modul ROV-a (504) za upravljanje radom ROV-a, - dinamički sustav za upravljanje pozicioniranjem (506) koji kontrolira položaj i određuje kada i gdje se plovilo bez posade treba premjestiti na temelju mnoštva ulaznih parametara, pri čemu mnoštvo ulaznih parametara obuhvaća parametre koji se odnose na ROV tijekom rada ROV-a, te parametri koji se odnose na ROV sadrže radni položaj ROV-a, naznačen time što mnoštvo ulaznih parametara također uključuje parametre površinskog prometa, - pri čemu je dinamički sustav za upravljanje pozicioniranjem (506) konfiguriran da daje prioritet održavanju radnog položaja ROV-a prilikom upravljanja položajem i određivanja kada i gdje se plovilo bez posade treba premjestiti, te pri čemu dinamički sustav za upravljanje pozicioniranjem (506) nadalje sadrži bazu podataka koja sadrži navigacijska pravila i procjenjuje parametre površinskog prometa s obzirom na navigacijska pravila pri određivanju kada i kamo se plovilo treba premjestiti.14. An unmanned surface vessel controller (500), comprising - the propulsion controller module (505) for controlling the movement of an unmanned surface vessel, - the deployment and recovery module (503) for controlling the deployment of the ROV from the unmanned surface vessel into the water and the return of the ROV from the water to the unmanned surface vessel, and - the ROV work module (504) for managing the work of the ROV, - a dynamic positioning control system (506) that controls the position and determines when and where the unmanned vessel should be moved based on a plurality of input parameters, wherein the plurality of input parameters includes parameters related to the ROV during operation of the ROV, and parameters that refer to the ROV include the operating position of the ROV, indicated that the plurality of input parameters also include surface traffic parameters, - wherein the dynamic positioning control system (506) is configured to prioritize maintaining the operating position of the ROV when controlling the position and determining when and where the unmanned vessel should be moved, and wherein the dynamic positioning control system (506) further comprises a database that contains navigational rules and evaluates surface traffic parameters against navigational rules when determining when and where a vessel should move. 15. Kontroler prema zahtjevu 14, naznačen time što mnoštvo ulaznih parametara uključuje parametre koji se odnose na ROV tijekom rada ROV-a, te mnoštvo ulaznih parametara koji se odnose na rad ROV-a sadrži najmanje jedan od: - potrošenu dužinu priveza, - napetost priveza između površinskog plovila bez posade i ROV-a, - potrošenu duljinu pupčanog kabela između ROV-a i sustava upravljanja privezom, i - napetost na pupčanom kabelu između ROV-a i sustava upravljanja privezom.15. The controller according to claim 14, characterized in that the plurality of input parameters includes parameters related to the ROV during the operation of the ROV, and the plurality of input parameters related to the operation of the ROV contains at least one of: - the used length of the mooring, - mooring tension between unmanned surface vessel and ROV, - the consumed length of the umbilical cable between the ROV and the mooring control system, i - tension on the umbilical cable between the ROV and the mooring control system. 16. Kontroler prema zahtjevu 14 ili 15, naznačen time što mnoštvo ulaznih parametara sadrži najmanje jedan od: - meteorološke podatke, - podatke o okolišu, - kretanje površinskog plovila bez posade, - elektroničke navigacijske karte, i - položaj površinskog plovila bez posade u odnosu na kopno, stijene i druge fiksne opasnosti.16. Controller according to claim 14 or 15, characterized in that the plurality of input parameters contains at least one of: - meteorological data, - environmental data, - movement of a surface vessel without a crew, - electronic navigation charts, i - the position of the unmanned surface vessel in relation to land, rocks and other fixed hazards. 17. Kontroler prema zahtjevu 14, naznačen time što dinamički sustav za upravljanje pozicioniranjem (506) nadalje sadrži modul za pristajanje za pozicioniranje plovila za vezu između plovila ili vezu između plovila i doka.17. The controller of claim 14, characterized in that the dynamic positioning control system (506) further comprises a docking module for positioning the vessel for a vessel-to-vessel connection or a vessel-to-dock connection. 18. Kontroler prema zahtjevu 14, naznačen time što se rad plovila provodi autonomno pomoću upravljačke jedinice plovila.18. The controller according to claim 14, characterized in that the operation of the vessel is carried out autonomously by means of the control unit of the vessel. 19. Kontroler prema zahtjevu 14, naznačen time što se plovilo kontrolira iz kopnene upravljačke postaje.19. Controller according to claim 14, characterized in that the vessel is controlled from a land control station.
HRP20220773TT 2016-04-27 2017-04-25 Unmanned surface vessel for remotely operated underwater vehicle operations HRP20220773T1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
NO20160706A NO341429B1 (en) 2016-04-27 2016-04-27 Unmanned surface vessel for remotely operated underwater vehicle operations
EP17727736.5A EP3448748B1 (en) 2016-04-27 2017-04-25 Unmanned surface vessel for remotely operated underwater vehicle operations
PCT/NO2017/050101 WO2017188823A1 (en) 2016-04-27 2017-04-25 Unmanned surface vessel for remotely operated underwater vehicle operations

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HRP20220773T1 true HRP20220773T1 (en) 2022-09-16

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DK (2) DK3448748T3 (en)
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PL3448748T3 (en) 2022-07-25
HUE064019T2 (en) 2024-02-28
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PL3778373T3 (en) 2024-02-19
SI3448748T1 (en) 2022-09-30
ES2963531T3 (en) 2024-03-27
EP4242096A3 (en) 2023-11-08
EP3778373B1 (en) 2023-08-23
EP3448748A1 (en) 2019-03-06
HUE059097T2 (en) 2022-10-28
EP3448748B1 (en) 2022-04-06
EP4242096A2 (en) 2023-09-13
DK3448748T3 (en) 2022-07-04
PT3778373T (en) 2023-11-20
HRP20231138T1 (en) 2024-01-05
LT3448748T (en) 2022-07-11
DK3778373T3 (en) 2023-10-30
EP3778373A1 (en) 2021-02-17
NO341429B1 (en) 2017-11-13
NO20160706A1 (en) 2017-10-30
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