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 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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Croatia
Prior art keywords
vessel
rov
unmanned
control system
unmanned surface
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HRP20220773TT
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English (en)
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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/hr

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00Hulls characterised by their structure or component parts
    • B63B3/14Hull parts
    • B63B2003/147Moon-pools, e.g. for offshore drilling vessels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165Deployment or recovery of underwater vehicles using lifts or hoists
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006Unmanned surface vessels, e.g. remotely controlled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007Underwater 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008Docking 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)
  • 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.
HRP20220773TT 2016-04-27 2017-04-25 Površinsko plovilo bez posade za upravljanje podvodnim vozilom na daljinsko upravljanje HRP20220773T1 (hr)

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

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HRP20220773T1 true HRP20220773T1 (hr) 2022-09-16

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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

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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)

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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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