HRP20220773T1 - Površinsko plovilo bez posade za upravljanje podvodnim vozilom na daljinsko upravljanje - Google Patents
Površinsko plovilo bez posade za upravljanje podvodnim vozilom na daljinsko upravljanje Download PDFInfo
- 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
- Authority
- HR
- Croatia
- Prior art keywords
- vessel
- rov
- unmanned
- control system
- unmanned surface
- Prior art date
Links
- 238000011084 recovery Methods 0.000 claims 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 4
- 230000007613 environmental effect Effects 0.000 claims 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 238000003032 molecular docking Methods 0.000 claims 1
- 230000007935 neutral effect Effects 0.000 claims 1
- 239000011435 rock Substances 0.000 claims 1
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
Landscapes
- 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)
- Containers And Packaging Bodies Having A Special Means To Remove Contents (AREA)
- Catching Or Destruction (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.
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.
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.
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.
5. Plovilo prema patentnom zahtjevu 1, naznačeno time što dalje sadrži zatvoreni prostor za skladištenje ROV-a.
6. Plovilo prema patentnom zahtjevu 5, naznačeno time što uređaj za postavljanje i povrat u položaju mirovanja smješten unutar zatvorenog prostora.
7. Plovilo prema patentnom zahtjevu 1, naznačeno time što se ROV postavlja pomoću pupčanog kabela koji nosi teret spojenog na sustav upravljanja privezom.
8. Plovilo prema patentnom zahtjevu 1, naznačeno time što se ROV postavlja korištenjem neutralnog uzgonskog priveza.
9. Plovilo prema patentnom zahtjevu 1, naznačeno time što je uređaj za postavljanje i povrat automatizirani sustav za lansiranje i povrat (LARS).
10. Plovilo prema patentnom zahtjevu 1, naznačeno time što dalje sadrži redundantni pogonski i upravljački sustav.
11. Plovilo prema patentnom zahtjevu 1, naznačeno time što se rad površinskog plovila bez posade provodi autonomno pomoću upravljačke jedinice plovila.
12. Plovilo prema patentnom zahtjevu 1, naznačeno time što se površinskim plovilom bez posade upravlja iz kopnene kontrolne postaje.
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.
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.
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.
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.
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.
18. Kontroler prema zahtjevu 14, naznačen time što se rad plovila provodi autonomno pomoću upravljačke jedinice plovila.
19. Kontroler prema zahtjevu 14, naznačen time što se plovilo kontrolira iz kopnene upravljačke postaje.
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 |
PCT/NO2017/050101 WO2017188823A1 (en) | 2016-04-27 | 2017-04-25 | 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 |
Publications (1)
Publication Number | Publication Date |
---|---|
HRP20220773T1 true HRP20220773T1 (hr) | 2022-09-16 |
Family
ID=58995197
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
HRP20220773TT HRP20220773T1 (hr) | 2016-04-27 | 2017-04-25 | Površinsko plovilo bez posade za upravljanje podvodnim vozilom na daljinsko upravljanje |
HRP20231138TT HRP20231138T1 (hr) | 2016-04-27 | 2017-04-25 | Površinsko plovilo bez posade za operacije podvodnih plovila na daljinsko upravljanje |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
HRP20231138TT HRP20231138T1 (hr) | 2016-04-27 | 2017-04-25 | Površinsko plovilo bez posade za operacije podvodnih plovila na daljinsko upravljanje |
Country Status (12)
Country | Link |
---|---|
EP (3) | EP4242096A3 (hr) |
DK (2) | DK3448748T3 (hr) |
ES (2) | ES2963531T3 (hr) |
FI (1) | FI3778373T3 (hr) |
HR (2) | HRP20220773T1 (hr) |
HU (2) | HUE064019T2 (hr) |
LT (2) | LT3778373T (hr) |
NO (1) | NO341429B1 (hr) |
PL (2) | PL3778373T3 (hr) |
PT (2) | PT3778373T (hr) |
SI (2) | SI3448748T1 (hr) |
WO (1) | WO2017188823A1 (hr) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108016574A (zh) * | 2017-12-12 | 2018-05-11 | 大连海事大学 | 一种具有水质监测功能的基于北斗导航的水面航行器 |
WO2019229633A1 (en) * | 2018-05-27 | 2019-12-05 | Rekise Marine Pvt. Ltd. | An autonomous surface vessel |
FR3088614B1 (fr) * | 2018-11-16 | 2021-05-28 | E 4S | Bateau de surface autonome ameliore |
CN112230639A (zh) * | 2019-06-28 | 2021-01-15 | 中国科学院沈阳自动化研究所 | 一种用于自主遥控水下机器人的远程回收控制系统及方法 |
NO347397B1 (en) * | 2019-09-12 | 2023-10-16 | Kongsberg Maritime As | Intermediate docking station for underwater vehicles |
NL2025284B1 (en) * | 2020-04-06 | 2021-10-25 | Demcon Unmanned Systems B V | Watercraft comprising a positioning system |
CN111470013B (zh) * | 2020-04-20 | 2021-04-09 | 中国科学院声学研究所 | 一种基于rov的水下设备收放装置、布放及回收方法 |
DE102020115215A1 (de) * | 2020-06-08 | 2021-12-09 | Scan4Pipes Europe GmbH | Messplattform und Verfahren zum Auffinden und zur Überwachung von Rohrleitungen unter Wasser |
CN111942530A (zh) * | 2020-08-24 | 2020-11-17 | 上海海洋大学 | 一种连接水下机器人的无人船装置 |
CN114228961B (zh) * | 2021-11-15 | 2023-06-30 | 中国船舶重工集团公司第七一九研究所 | 一种水下主动对接机器人及对接方法 |
KR102684846B1 (ko) | 2022-04-18 | 2024-07-12 | 정규영 | 외부로부터 전원을 공급받아 즐기는 탑승형 해상용 드론장치 |
CN114842635A (zh) * | 2022-05-11 | 2022-08-02 | 徐文宇 | 一种具有显示功能的船艇遥控系统 |
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US3105453A (en) | 1961-11-24 | 1963-10-01 | Shell Oil Co | Ship control system |
WO1995032121A1 (en) * | 1994-05-19 | 1995-11-30 | Yung Yul Gung | Supplied ship for underwater excavator |
US6269763B1 (en) * | 1998-02-20 | 2001-08-07 | Richard Lawrence Ken Woodland | Autonomous marine vehicle |
US6148759A (en) * | 1999-02-24 | 2000-11-21 | J. Ray Mcdermott, S.A. | Remote ROV launch and recovery apparatus |
US6349665B1 (en) * | 2000-08-14 | 2002-02-26 | Mentor Subsea Technology Services, Inc. | Drone vessel for an ROV |
US6279501B1 (en) * | 2000-09-28 | 2001-08-28 | Mentor Subsea Technology Services, Inc. | Umbilical constraint mechanism |
DE10310550A1 (de) * | 2003-03-02 | 2004-09-30 | Fred Hocker | Gewässeruntersuchungssystem |
US6854410B1 (en) * | 2003-11-24 | 2005-02-15 | The United States Of America As Represented By The Secretary Of The Navy | Underwater investigation system using multiple unmanned vehicles |
JP2006044622A (ja) | 2004-08-02 | 2006-02-16 | Yamaha Motor Co Ltd | 機器艤装船舶 |
IL196276A (en) | 2008-12-30 | 2013-04-30 | Elbit Systems Ltd | Independent navigation system and method for maneuverable platform |
GB2480688B (en) * | 2010-05-28 | 2012-11-14 | Subsea 7 Contracting Norway As | Subsea position control system for elongate articles |
WO2012053897A2 (en) * | 2010-10-19 | 2012-04-26 | Innova As | An arrangement and a crane assembly for deployment and/ or retrieval of a payload at sea, and a movement attenuation payload deployment and/ or retrieval device, and a snubber device. |
DE102012006566A1 (de) | 2012-03-30 | 2013-10-02 | Atlas Elektronik Gmbh | Verfahren zur Detektion von Seeminen und Seeminendetektionssystem |
US9223310B2 (en) | 2013-02-08 | 2015-12-29 | The Boeing Company | Ship course obstruction warning transport |
KR20150047159A (ko) | 2013-10-24 | 2015-05-04 | 대우조선해양 주식회사 | Rov의 거동을 고려한 동적 위치 제어 시스템 및 그의 위치 제어 방법 |
CN104369842B (zh) | 2014-08-12 | 2017-04-12 | 浙江大学 | 基于自主水下航行器的水面辅助机器人及使用方法 |
ES2558356B1 (es) | 2015-06-10 | 2016-09-14 | Universidad Politécnica De Cartagena | Sistema y método de neutralización de minas submarinas |
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2016
- 2016-04-27 NO NO20160706A patent/NO341429B1/en unknown
-
2017
- 2017-04-25 SI SI201731170T patent/SI3448748T1/sl unknown
- 2017-04-25 SI SI201731413T patent/SI3778373T1/sl unknown
- 2017-04-25 PT PT201988581T patent/PT3778373T/pt unknown
- 2017-04-25 ES ES20198858T patent/ES2963531T3/es active Active
- 2017-04-25 DK DK17727736.5T patent/DK3448748T3/da active
- 2017-04-25 HR HRP20220773TT patent/HRP20220773T1/hr unknown
- 2017-04-25 WO PCT/NO2017/050101 patent/WO2017188823A1/en active Application Filing
- 2017-04-25 EP EP23181517.6A patent/EP4242096A3/en active Pending
- 2017-04-25 HU HUE20198858A patent/HUE064019T2/hu unknown
- 2017-04-25 ES ES17727736T patent/ES2920894T3/es active Active
- 2017-04-25 HU HUE17727736A patent/HUE059097T2/hu unknown
- 2017-04-25 DK DK20198858.1T patent/DK3778373T3/da active
- 2017-04-25 LT LTEP20198858.1T patent/LT3778373T/lt unknown
- 2017-04-25 EP EP17727736.5A patent/EP3448748B1/en active Active
- 2017-04-25 PT PT177277365T patent/PT3448748T/pt unknown
- 2017-04-25 PL PL20198858.1T patent/PL3778373T3/pl unknown
- 2017-04-25 HR HRP20231138TT patent/HRP20231138T1/hr unknown
- 2017-04-25 PL PL17727736.5T patent/PL3448748T3/pl unknown
- 2017-04-25 LT LTEPPCT/NO2017/050101T patent/LT3448748T/lt unknown
- 2017-04-25 FI FIEP20198858.1T patent/FI3778373T3/fi active
- 2017-04-25 EP EP20198858.1A patent/EP3778373B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
ES2920894T3 (es) | 2022-08-11 |
DK3448748T3 (da) | 2022-07-04 |
EP3778373B1 (en) | 2023-08-23 |
EP4242096A3 (en) | 2023-11-08 |
SI3448748T1 (sl) | 2022-09-30 |
WO2017188823A1 (en) | 2017-11-02 |
PL3778373T3 (pl) | 2024-02-19 |
PT3448748T (pt) | 2022-07-05 |
LT3448748T (lt) | 2022-07-11 |
PT3778373T (pt) | 2023-11-20 |
EP3448748A1 (en) | 2019-03-06 |
NO341429B1 (en) | 2017-11-13 |
EP3448748B1 (en) | 2022-04-06 |
ES2963531T3 (es) | 2024-03-27 |
EP3778373A1 (en) | 2021-02-17 |
SI3778373T1 (sl) | 2024-01-31 |
HUE064019T2 (hu) | 2024-02-28 |
FI3778373T3 (fi) | 2023-10-31 |
HRP20231138T1 (hr) | 2024-01-05 |
LT3778373T (lt) | 2023-10-25 |
NO20160706A1 (en) | 2017-10-30 |
PL3448748T3 (pl) | 2022-07-25 |
HUE059097T2 (hu) | 2022-10-28 |
EP4242096A2 (en) | 2023-09-13 |
DK3778373T3 (da) | 2023-10-30 |
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