WO2021049949A1 - Station de mise à quai intermédiaire pour des véhicules sous-marins - Google Patents

Station de mise à quai intermédiaire pour des véhicules sous-marins Download PDF

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Publication number
WO2021049949A1
WO2021049949A1 PCT/NO2020/050232 NO2020050232W WO2021049949A1 WO 2021049949 A1 WO2021049949 A1 WO 2021049949A1 NO 2020050232 W NO2020050232 W NO 2020050232W WO 2021049949 A1 WO2021049949 A1 WO 2021049949A1
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WO
WIPO (PCT)
Prior art keywords
docking station
intermediate docking
submersible
surface vessel
tow cable
Prior art date
Application number
PCT/NO2020/050232
Other languages
English (en)
Inventor
Henrik Alpo SJÖBLOM
Vidar SMINES
Original Assignee
Kongsberg Maritime CM AS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kongsberg Maritime CM AS filed Critical Kongsberg Maritime CM AS
Publication of WO2021049949A1 publication Critical patent/WO2021049949A1/fr

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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 
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • 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 
    • 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
    • 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
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • 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
    • 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

Definitions

  • the invention concerns a submersible intermediate docking station for underwater vehicles.
  • the invention also concerns a system for operating a submersible intermediate docking station for at least one tethered or untethered underwater vehicle.
  • the invention also concerns using said intermediate docking station for launch and recovery of underwater vehicles from and to a surface vessel, using said intermediate docking station for transmitting power and electronic data between a surface vessel and submerged underwater vehicles, or using said intermediate docking station to carry payloads or instruments, either to serve underwater vehicles, or to serve independently from, or as substitute for, underwater vehicles.
  • launch and recovery is most commonly performed via a moonpool or over the side while the surface vessel is largely stationary (apart from wave induced motions).
  • launch and recovery synchronization of the motions of the surface vessel and the underwater vehicle is performed solely by the tether or umbilical cable (as the case may be) from which the underwater vehicle is suspended.
  • a cable is not suitable to transfer shear forces, this method is only able to achieve a limited degree of synchronization in the lateral plane.
  • the invention provides a system for operating a submersible intermediate docking station for at least one tethered or untethered underwater vehicle.
  • the submersible intermediate docking station is connectable to a surface vessel through a tow cable.
  • the submersible intermediate docking station and/or tow cable are controllable to attain one or more selectable equilibria between a resultant force vector of the tow cable acting upon the submersible intermediate docking station and a resultant force vector of the submersible intermediate docking station acting opposite of the tow cable.
  • the motions of the submersible intermediate docking station are partly or largely decoupled from the motions of the surface vessel.
  • the system may comprise at least one winch adapted for actively moving the tow cable at a specified speed, tension or length.
  • the system may include at least one self-traversing winch adapted for actively moving the intermediate docking station along a passive tow cable, or along an actively controlled tow cable, at a specified speed, tension or length.
  • the at least one winch may be provided, arranged on, or attached to, the surface vessel and/or the submersible intermediate docking station.
  • the system may comprise a controller adapted for controlling at least one winch based on input parameters related to at least one of sea state conditions for the surface vessel, actual or predicted motions of the surface vessel, or actual or predicted motions of the intermediate docking station.
  • the system may be operable to maintain the tow cable in tension.
  • the intermediate docking station may be provided with at least one of: control surfaces for lift control; control surfaces for drag control; buoyancy and ballast tanks for flotation or posture control; a movable tow cable termination point for posture control; movable weights for posture control; through-flow control for drag and turbulence management; at least one propulsor; at least one hydro-acoustic or light-based position transponder, receiver or reflector; at least one sensor for measuring inclination (posture); at least one sensor for measuring depth; or at least one sensor for measuring speed.
  • the surface vessel may comprise a dynamic positioning system and an associated propulsion system.
  • a response time of the dynamic positioning system and the associated propulsion system may be equal to or less than a wave induced surge motion of the surface vessel.
  • the input parameters to the dynamic positioning system and associated propulsion system may comprise at least one of: sea state, such as prevailing, predicted or approaching wave heights or wave periods; or vessel motions, such as actual or predicted accelerations, velocities or motion periods.
  • the surface vessel may comprise at least one ramp, dock, moonpool, crane or hoist for launch and/or recovery of the intermediate docking station.
  • the surface vessel may be a manned or unmanned vessel.
  • the surface vessel may be operated manually, partly- or fully remotely, automatically or autonomously.
  • the tow cable may be an umbilical cable transmitting at least one of power, control signals or electronic data.
  • the at least one of power, control signals or electronic data may be transmittable in at least one of electrical, acoustic, hydraulic, pneumatic or optical form.
  • the intermediate docking station may serve as a protective enclosure or exoskeleton for one or more underwater vehicles.
  • the underwater vehicle may be an ROV or AUV, or multiple ROV and/or AUV vehicles.
  • the invention provides a submersible intermediate docking station for at least one tethered or untethered underwater vehicle, wherein the submersible intermediate docking station is adapted to be connected to a surface vessel through a tow cable.
  • the submersible intermediate docking station and/or tow cable are adapted to be controllable to attain one or more selectable equilibria between a resultant force vector of the tow cable acting upon the submersible intermediate docking station and a resultant force vector of the submersible intermediate docking station acting opposite of the tow cable.
  • the motions of the submersible intermediate docking station are partly or largely decoupled from the motions of the surface vessel.
  • the submersible intermediate docking station and/or at least one winch may be adapted for being dynamically controlled for controlling a tension of the tow cable based on input parameters related to at least one of actual or predicted motions of the surface vessel and movements of the submersible intermediate docking station.
  • the submersible intermediate docking station may further comprise a winch adapted for active winch control.
  • the tow cable may be an umbilical cable.
  • the submersible intermediate docking station may be provided with at least one of: control surfaces for lift control; control surfaces for drag control; buoyancy and ballast tanks for flotation or posture control; a movable tow cable termination point for posture control; movable weights for posture control; through-flow control for drag and turbulence management; at least one propulsor; at least one hydro acoustic position transponder, receiver or reflector; at least one sensor for measuring inclination (posture); at least one sensor for measuring depth; or at least one sensor for measuring speed.
  • the submersible intermediate docking station may further comprise a connector module or a wireless system for transmittal of power, control signals or other electronic data to or from the underwater vehicle.
  • the submersible intermediate docking station may further comprise a tether management system for a tethered underwater vehicle.
  • the intermediate docking station may be controllable from the surface vessel.
  • the submersible intermediate docking station may serve as a protective enclosure or exoskeleton for one or more underwater vehicles.
  • the invention provides a method for operating a submersible intermediate docking station for at least one tethered or untethered underwater vehicle.
  • the submersible intermediate docking station is connected to a surface vessel through a tow cable.
  • the submersible intermediate docking station and/or tow cable is controlled to attain one or more selectable equilibria between a resultant force vector of the tow cable acting upon the submersible intermediate docking station and a resultant force vector of the submersible intermediate docking station acting opposite of the tow cable.
  • the motions of the submersible intermediate docking station are partly or largely decoupled from the motions of the surface vessel.
  • the method may further comprise dynamically controlling the submersible intermediate docking station and/or at least one winch for controlling a tension of the tow cable based on input parameters related to actual or predicted motions of the surface vessel or actual or predicted motions of the submersible intermediate docking station.
  • the method may further comprise controlling a speed, posture and position/depth of the submersible intermediate docking station during towing.
  • the method may further comprise stabilizing and/or altering at least one of a speed, posture and/or position/depth of the submersible intermediate docking station during towing by at least one of: a) affecting tow parameters at the surface vessel end of the tow cable, such as surface vessel speed and -heading, tow cable tension, paid out length-, reel velocity or exit point of cable; or b) affecting tow parameters at the intermediate docking station end of the tow cable, such as hydrodynamic lift, drag or thrust, buoyancy and centre of buoyancy, centre of gravity or tow cable termination point; or c) affecting tow parameters along the tow cable, such as catenary manipulation by means of buoyancy, drag, lift or weight; or d) affecting the tow geometry, i.e.
  • the method may further include countering wave induced motions of the surface vessel with a dynamic positioning system and an associated propulsion system, where a response time of the dynamic positioning system and the associated propulsion system is equal to or less than a natural wave induced surge motion of the surface vessel. This stabilizes the tow.
  • the input parameters to the dynamic positioning system and associated propulsion system may include at least one of: sea state, such as prevailing, predicted or approaching wave heights or wave periods; or vessel motions, such as actual or predicted accelerations, velocities or motion periods.
  • Launching and/or recovering the submersible intermediate docking station may be performed from/to the surface vessel over a ramp, through a moonpool or over the side of the surface vessel.
  • Undocking or docking of an underwater vehicle with the intermediate docking station may be performed during towing of the intermediate docking station by the surface vessel while the intermediate docking station is in a submerged state.
  • the method may further comprise operating an underwater vehicle while tethered to the intermediate docking station in a submerged state or while tethered to the intermediate docking station retrieved to the surface vessel, or while tethered directly to the surface vessel.
  • the intermediate docking station may also be operating as a submerged charging and/or electronic data exchange station for tethered or untethered underwater vehicles.
  • the intermediate docking station may also operate as a survey platform while being submerged. Survey sensors may then be fitted directly onto the intermediate docking station, and/or fitted onto an underwater vehicle docked to the intermediate docking station.
  • the invention also provides uses of the submersible intermediate docking station as a tether management system for an underwater vehicle, whether while stationary or under tow; for launch and recovery of underwater vehicles from and to a surface vessel; for transmitting power and electronic data between a surface vessel and at least one submerged underwater vehicle; to carry payloads or instruments to serve at least one underwater vehicle, or to serve independently from, or as a substitute for, at least one underwater vehicle.
  • the invention provides a safe and efficient launch and recovery of underwater vehicles from a surface vessel, in particular for small surface vessels prone to wave induced motions.
  • the underwater vehicle is launched from the surface vessel to the sea and recovered from the sea to onboard the surface vessel while docked to the intermediate docking station, with the option of the intermediate docking station serving as a protective enclosure or exoskeleton during launch and recovery.
  • Use of an intermediate docking station provides a more robust procedure for launch and recovery of underwater vehicles. Undocking and docking of the underwater vehicle takes place while the intermediate docking station is submerged.
  • the intermediate docking station may have multiple uses as e.g. an independent survey platform, as a charging and/or electronic data exchange station for underwater vehicles, to carry payloads or instruments to an underwater vehicle. Such uses could reduce the need for more frequent launch and recovery of underwater vehicles from and to the surface vessel.
  • Figure 1 illustrates mainly forward and exterior of an example submersible intermediate docking station and an adjacent tethered underwater vehicle.
  • At the forward of the body of the intermediate docking station there is a termination point for the tow cable connecting the intermediate docking station to a surface vessel (surface vessel not shown). Suggested control devices are fitted onto the intermediate docking station;
  • Figure 2 illustrates example control devices fitted within the body of a submersible intermediate docking station
  • Figure 3 illustrates mainly aft and interior of an exemplary submersible intermediate docking station and an adjacent exemplary tethered underwater vehicle.
  • an entry opening for the underwater vehicle to enter the submersible intermediate docking station At an aft of the body, there is an entry opening for the underwater vehicle to enter the submersible intermediate docking station.
  • Within the submersible intermediate docking station there is a fitted space for an underwater vehicle to be docked, connection and securing interfaces for the underwater vehicle and a tether management system to pay out and reel in tether;
  • Figure 4 illustrates an example surface vessel carrying an example intermediate docking station containing an exemplary underwater vehicle.
  • the intermediate docking station is placed on a ramp facing the stern of the surface vessel, from which launch and recovery may take place.
  • the surface vessel may be provided with a winch to operate the tow cable;
  • Figure 5 illustrates an example intermediate docking station in a launched position towed behind a surface vessel
  • Figure 6 illustrates an intermediate docking station 4 under tow while submerged, which may be below the wave base, and during which the intermediate docking station may be maintained in a steady state;
  • Figure 7 illustrates an intermediate docking station maintained in a steady state, during which the underwater vehicle undocks or docks
  • Figure 8 illustrates an intermediate docking station, from which an exemplary tethered underwater vehicle has undocked while being under way. Power and control signals may be exchanged between the surface vessel and the underwater vehicle through the tow cable and tether. Positions a) and b) shows alternative configurations of the tether tow; Figure 9 illustrates an intermediate docking station being retrieved back to a surface vessel while the underwater vehicle remains submerged and underway. Positions a) and b) shows alternative configurations of the tether tow;
  • Figure 10 illustrates an intermediate docking station suspended under a surface vessel while in a stationary mode
  • Figure 11 illustrates an intermediate docking station operating independently from an underwater vehicle, e.g. by performing seabed survey by means of survey equipment fitted directly onto the intermediate docking station (survey equipment not shown).
  • Figure 12 shows an illustrative overview of several prospective modes of operation for an intermediate docking station and underwater vehicle, as well as select positions of an intermediate docking station during undocking and docking the underwater vehicle from and to an intermediate docking station, as well as launch and recovery of an intermediate docking station from and to a surface vessel.
  • a submersible intermediate docking station 2 for underwater vehicles is shown in Figure 1.
  • the intermediate docking station 2 is connected to a surface vessel via a tow cable 4.
  • the tow cable may serve as an umbilical for power, communications, control signals and/or data.
  • the intermediate docking station may typically be towed after the surface vessel (towed mode), either at the surface or submerged, but could also be submerged suspended below the surface vessel (stationary mode).
  • the intermediate docking station 2 may provide a protective housing for one or more underwater vehicles, but could also solely be a lash-on point for underwater vehicles.
  • the underwater vehicle may be a tethered or untethered underwater vehicle.
  • the intermediate docking station 2 is controllable to various extents by affecting and managing the forces acting upon the intermediate docking station.
  • Such forces may result from pull, thrust, gravity, inertia, buoyancy, hydrodynamic lift and -drag.
  • the purpose of control is to be able to launch, submerge and recover the intermediate docking station from and to the surface vessel with a level of control. While submerged, a state is established where the motions of the intermediate docking station are partly or largely decoupled from the motions of the surface vessel.
  • the motions of the intermediate docking station may instead be synchronized with the motions of the underwater vehicle 3 in order to facilitate undocking and docking of underwater vehicles with the intermediate docking station in a manner less contingent upon the motions of the surface vessel and less affected by surface waves.
  • Figure 1 illustrates mainly a fore part and exterior sides of an intermediate docking station 2.
  • the intermediate docking station 2 comprises a body 20, which may be closed (e.g. shell structure) or open (e.g. lattice structure).
  • the body may serve as a protective housing or exoskeleton for all or part of an underwater vehicle 3.
  • the underwater vehicle may e.g. be an ROV or AUV, or multiple ROV and/or AUV vehicles.
  • the underwater vehicle 3 is tethered 5 to the intermediate docking station 2, however the underwater vehicle may also be untethered.
  • the intermediate docking station may have a body in the form of a shell structure with an elongated shape as illustrated in the example embodiment in Figure 1.
  • the elongated shape may have substantially rectangular long sections and quadratic transverse sections, and is substantially symmetrical around a longitudinal axis.
  • alternative symmetrical or asymmetrical geometries could apply.
  • the fore part of the body 20 is tapered to reduce hydrodynamic resistance and turbulence while the intermediate docking station 2 is under tow, and to aid retrieval of the intermediate docking station into the surface vessel 1.
  • the body and in particular the fore part of the body 20 may be ruggedized to allow for jolts and impacts during release and retrieval from and to the surface vessel.
  • the termination point 21 may typically be located at or close to the central longitudinal axis of the intermediate docking station.
  • the termination point may be movable to certain extent in either transverse direction to affect the posture (inclination) of the intermediate docking station while under tow. In alternative embodiments, the termination point may be fixed or movable only in certain directions.
  • One or more control devices may be fitted onto the body 20 of the intermediate docking station 2.
  • Figure 1 shows the following suggested control devices fitted onto the body: control surfaces 23 (e.g. fins) for dive control; control surfaces 22 (e.g. flaps) for drag control; adjustable louvres 24 for through-flow control, drag and wake management.
  • the intermediate docking station may also be fitted with energized propulsors, such as propellers, rotors, pump jets, reaction thrusters or similar, which may partly or fully substitute other control devices or partly or fully substitute the tow force delivered by the surface vessel to the tow cable.
  • Figure 2 shows, indicated with thick lines, the following suggested control devices fitted within the body of the intermediate docking station: buoyancy 27 and/or ballast 28 tanks for flotation and posture control; movable fixed ballast 29 (weights) for posture (inclination) control; movable tow cable termination point 25 (e.g. revolving disks) for posture control.
  • the intermediate docking station may also be provided with movable weights for posture control.
  • the body may be fitted with (not shown) fixed control surfaces for directional stability, or movable control surfaces for sideways heading control (further to solely passive stabilization or alignment with the heading of the tow cable).
  • the body of the intermediate docking station may itself be formed to serve as a control surface, i.e. generate a variable lift or drag, if the body is tilted e.g. by aforementioned methods of posture control.
  • the intermediate docking station may typically be designed to be hydrodynamically stable, but could alternatively be hydrodynamically unstable.
  • Protruding control devices as e.g. fins 23 and flaps 22, may be retractable or foldable flush with the ruggedized exterior of the intermediate docking station to reduce risk of damage during release and retrieval from and to the surface vessel.
  • the intermediate docking station 2 may also be provided with at least one of a hydro-acoustic or light-based position transponder, receiver or reflector, which may be arranged as appropriate to ensure line of sight between the docking station and underwater vehicle, and between the docking station and the surface vessel as the case may be. Further, the intermediate docking station may be provided with sensor(s) for measuring inclination (posture), sensor(s) for measuring depth and/or sensor(s) for measuring speed.
  • a hydro-acoustic or light-based position transponder, receiver or reflector which may be arranged as appropriate to ensure line of sight between the docking station and underwater vehicle, and between the docking station and the surface vessel as the case may be.
  • the intermediate docking station may be provided with sensor(s) for measuring inclination (posture), sensor(s) for measuring depth and/or sensor(s) for measuring speed.
  • Figure 3 illustrates mainly the aft part and interior of the intermediate docking station and an adjacent tethered underwater vehicle. At the aft of the body, there is an opening for the underwater vehicle to enter or depart the intermediate docking station.
  • the body of the intermediate docking station in Figure 3 serves as a protective housing or exoskeleton for the underwater vehicle. In alternative embodiments, if the body is not a protective housing or exoskeleton, the intermediate docking station may be provided with solely a lash-on point for the underwater vehicle to attach and detach to and from the intermediate docking station.
  • the interior 30 of the intermediate docking station in Figure 3 comprises a fitted space to accommodate the underwater vehicle while docked, securing/releasing devices and a tether management system 31 to pay out and reel in tether.
  • the embodiment of the intermediate docking station 2 show in Figure 3 is adapted to fully contain a substantially cuboid underwater vehicle.
  • the intermediate docking station may be adapted to serve multiple or different underwater vehicles simultaneously or successively, which may be in a variety of sizes and forms, or being contained fully or partially or not at all within the intermediate docking station. Accordingly, intermediate docking stations may be produced in a variety of sizes and forms, or with features allowing them to be configurable for the underwater vehicles in question.
  • Figure 4 illustrates an example surface vessel 1 carrying an intermediate docking station 2 containing an underwater vehicle 3.
  • the intermediate docking station 2 is placed on a ramp 11 facing the stern of the surface vessel 1 , from which launch and recovery may take place.
  • the entry to the ramp may be arranged with tapering sides or guides, which may be complimentary to, or a substitute for, the tapered forebody of the intermediate docking station to aid retrieval of the intermediate docking station onto the ramp 11.
  • the ramp may also be located in other appropriate locations on the surface vessel, e.g. on the side or at the fore body of the surface vessel 1.
  • Active manipulators such as movable tow cable guides or other catchment devices, may be used to further control the intermediate docking station during launch and recovery.
  • Launch and recovery may also take place via a dock or moonpool, or the intermediate docking station may be hoisted into or out of the water with a crane or other hoist device.
  • the surface vessel is provided with a tow cable connection point.
  • the tow cable connection point may be movable between different positions.
  • the tow cable 4 typically exits the surface vessel 1 via the ramp 11. Relevant rollers and guides may be fitted.
  • the tow cable may be permanently or temporarily relocated to exit the surface vessel at another location, e.g.
  • the tow cable connection point may differ for different phases of operation, e.g. one launch and recovery position and another tow- or rest position.
  • the surface vessel 1 may be fitted with a winch to operate the tow cable.
  • the winch may be of a conventional reel type (i.e. with cable storage), or alternatively a traction winch or similar (i.e. with separate cable storage).
  • the winch may be adapted for active winch control, including the ability to pay out or haul in cable to a given length or speed, and/or at a given tension.
  • cable may be stored on a winch drum, or a separate storage drum or similar.
  • the intermediate docking station 2 may be provided with a winch for the tow cable 4 as a substitute for, or as a supplement to, a winch aboard the surface vessel 1.
  • Subject winch could be a conventional reel type (i.e. with cable storage), or alternatively a self-traversing winch (i.e. without cable storage, but solely for traversing along a cable).
  • a self-traversing winch may be adapted for actively moving the intermediate docking station along a passive tow cable, or along an actively controlled tow cable, at a specified speed, tension or length.
  • a self- traversing winch operating on a passive cable could thus serve as a substitute for another winch for active tow cable control, whereas a self-traversing winch operating on an actively controleld cable could thus serve as a supplement or back-up for another winch for active tow cable control.
  • the intermediate docking station may also be controlled with multiple grouped cables or multiple separated cables rather than use of a single cable.
  • Figure 8 illustrates an overall system in a state of operation showing major components.
  • a surface vessel 1 is towing a submerged intermediate docking station 2.
  • the intermediate docking station 2 is connected to the surface vessel 1 through a tow cable 4.
  • the tow cable 4 is typically heavier than water.
  • a tethered underwater vehicle 3 is connected to the intermediate docking station 2 through a tether cable 5.
  • the tether cable is typically neutrally buoyant in water.
  • the tow- and tether cables respectively may be produced in metallic, non-metallic or composite materials.
  • One or more fixed or controllable devices may be fitted onto or within the tow cable 4 for the purpose of reducing drag, preventing vortex induced vibration and/or for catenary management, such as helical strake, hard-, ribbon- or hairy fairing, fixed or controllable weight or buoyancy elements, paravanes, birds or other devices for the purpose.
  • the tow cable 4 may be fitted with one or more propulsors, which could serve for the purpose of catenary management, or which could partly or fully substitute the tow force delivered by the surface vessel to the tow cable and in turn the intermediate docking station.
  • the tow- and tether cables respectively may also serve as umbilical cables, thereby enabling transmittal of power, control signals or other electronic data either from the surface vessel to the intermediate docking station, and/or from the intermediate docking station to the underwater vehicle, or vice versa. Transmittal would typically be electrical, but could also be either hydraulic, pneumatic, optical, acoustic or a combination thereof. Alternatively, a cable serving as umbilical may be separate from the tow cable.
  • the underwater vehicle 3 may be untethered, in which case the intermediate docking station need not include a tether management system.
  • Communications between the surface vessel 1 and intermediate docking station 2 and/or between the intermediate docking station 2 and underwater vehicle 3 may be wireless, such as, but not limited to, hydro-acoustic or light-based underwater communications.
  • Light-based may e.g. be a laser based communication system.
  • the intermediate docking station 2 may be fitted with connection interfaces as an alternative or supplementary means for transmitting energy and exchange electronic data with tethered or untethered underwater vehicles while docked.
  • the interface may be a connector module or a wireless system for transmittal of power, control signals or other electronic data to or from the underwater vehicle.
  • a connector module or wireless system may typically be arranged in the interior of the intermediate docking station, in proximity or adjacent to a corresponding interface or transmitter fitted to the underwater vehicle.
  • the tow itself delivers the entire force required for the intermediate docking station 2 to overcome hydrodynamic resistance and drag while underway.
  • the intermediate docking station may be fitted with energized propulsors, such as propellers, rotors, pump jets, reaction thrusters or similar, which may partly or fully substitute the tow force delivered by the tow cable
  • energy required to operate control devices of the intermediate docking station is supplied as electrical power via the tow cable 4 being an umbilical.
  • energy required to operate control devices on the intermediate docking station 2 may be derived either from batteries or other forms of energy accumulators carried aboard the intermediate docking station 2, or energy derived from the intermediate docking station being towed through the water, such as hydrodynamic levers, micro-turbines or similar.
  • Figure 4 illustrates an example surface vessel 1 carrying an intermediate docking station 2 containing an underwater vehicle 3. The intermediate docking station 2 is placed on a ramp 11 facing the stern of the surface vessel, from which launch and recovery may take place. The underwater vehicle 3 is securely docked to the intermediate docking station 2, and protected by its enclosing body 20. Any protruding control devices would typically be retracted or folded.
  • the intermediate docking station 2 and underwater vehicle 3 collectively are typically neutrally or positively buoyant at this stage, but may be negatively buoyant.
  • the surface vessel 1 is typically under way at some speed, but may in principle be stationary. Launch may take place by skidding or otherwise releasing or ejecting the intermediate docking station 2 into the water.
  • the stern of the surface vessel 1 may be trimmed aft to aid release of the intermediate docking station 2 from the stern ramp 11.
  • the aft ramp 11 may be partially or fully submerged, or be arranged as a dock.
  • a submerged ramp or dock may also be used to reduce the waterplane area of the surface vessel, which may reduce wave induced heave or pitch motions and/or create additional motion damping. Insofar the surface vessel 1 is under way, selection of an appropriate speed could help reduce wave induced dynamic motions of the surface vessel, such as due to resonance, and notably prevent parametric roll.
  • the intermediate docking station 2 containing the underwater vehicle 3 is towed behind the surface vessel 1 by means of a robust tow cable 4, it is typically possible to maintain a speed exceeding the self-propelled speed of the underwater vehicle 3, or exceeding the tow speed that would typically be permissible if towing a tethered underwater vehicle 3 directly, hence the tow speed may be chosen more freely.
  • the surface vessel 1 Insofar the surface vessel 1 is under way, drag from the passing water will pull the intermediate docking station 2 away from the surface vessel upon entry to the water, while paying out tow cable 4 permits the intermediate docking station to move away from the surface vessel. It follows that the surface vessel 1 should be designed so as to avoid excessive reverse flow trailing the surface vessel to ensure separation between intermediate docking station and surface vessel.
  • Figure 5 illustrates an intermediate docking station 2 in a launched position towed behind the surface vessel 1 and readied for being submerged.
  • the distance from the surface vessel 1 will typically be such that separation with the surface vessel is ensured, and such that the vertical component of the tow cable force acting upon the intermediate docking station 2 upon being submerged will be moderate or neutral, but could in principle be at no distance from the surface vessel 1.
  • Relevant control devices on the intermediate docking station that were retracted or folded during release from the surface vessel may typically be extended or unfolded. Thereafter, the intermediate docking station 2 may be submerged, either by reducing the buoyancy (or commence the launch with negative buoyancy), weight of the tow cable 4 and/or by applying negative hydrodynamic lift.
  • Figure 6 illustrates an intermediate docking station 2 under tow while submerged to a desired depth.
  • the depth may be below the prevailing wave base, i.e. at a depth where surface waves would have negligible influence on the intermediate docking station 2 other than that which may be transferred via the tow cable 4.
  • the intermediate docking station and/or tow cable may be controlled to attain one or more selectable equilibria between a resultant force vector of the tow cable acting upon the submersible intermediate docking station and a resultant force vector of the submersible intermediate docking station acting opposite of the tow cable.
  • Such forces may result from pull, thrust, gravity, inertia, buoyancy, hydrodynamic lift and -drag. Suggested controllers to generate or respond to such forces have already been described with reference to Figures 1-4 and 8.
  • the resultant force vector of the submersible intermediate docking station is a sum of drag, lift, buoyancy gravity and inertia acting upon or enacted by the submersible intermediate docking station and control devices provided on or within the submersible intermediate docking station.
  • the resultant force vector of the tow cable is a sum of pull, drag, lift, buoyancy, gravity and inertia acting upon or enacted by the tow cable and control devices provided on or within the tow cable.
  • the forces enacted upon the tow cable are not restricted to forces enacted solely by the tow winch and any control devices downline of the tow winch.
  • the forces enacted upon the tow cable also includes forces from the surface vessel itself such as by controlling the speed and thrust of the surface vessel.
  • the one or more selectable equilibria attained by the submersible intermediate docking station and/or tow cable result in the submersible intermediate docking station seeking or attaining either of the following motion states, all of which may be partly or largely decoupled from the motions of the surface vessel: a) A stationary state, whereby the depth, speed, heading and posture of the submersible intermediate docking station are maintained constant; b) A dynamic state, whereby either the depth, speed, heading or posture may change at a given rate; c) A transient state, whereby either depth, speed, heading or posture may change at a variable rate.
  • Docking and undocking of the underwater vehicle with the intermediate docking station may be performed in a number of ways. Docking and undocking should be carefully performed in order to avoid damaging the underwater vehicle and the intermediate docking station.
  • the reverse process is performed and the intermediate docking station is actively controlled to release the underwater vehicle and pull away from the underwater vehicle; iii) Actively controlling both the intermediate docking station and the underwater vehicle and maneuvering them towards each other for engagement and docking. For undocking, the reverse process is performed.
  • the motions of the intermediate docking station 2 are partly or largely decoupled from the dynamic motions of the surface vessel 1.
  • the intermediate docking station may be synchronized with the actual motions of the underwater vehicle 3 (e.g. an underwater vehicle 3 approaching the intermediate docking station 2) or the prospective motions of an underwater vehicle 3 (e.g. an underwater vehicle 3 departing the intermediate docking station 2).
  • Such synchronization of the intermediate docking station and underwater vehicle is far less contingent on ocean surface conditions and surface vessel motions than direct launch and recovery from or to the surface vessel 1 , while largely reducing or preventing the risk of unintended jolts or impacts during docking and undocking of an unprotected (and often fragile) underwater vehicle 3.
  • Synchronization may typically be achieved by maintaining both the intermediate docking station 2 and underwater vehicle 3 substantially in a stationary state, at which both the intermediate docking station 2 and underwater vehicle 3 maintains a similar speed, depth, heading and posture, with only a marginal difference in speed, enabling the intermediate docking station 2 and underwater vehicle 3 to move closer or move apart relative to each other.
  • the average speed over ground of the intermediate docking station 2 will be same as for the surface vessel 1 (unless continuously paying out or reeling in tow cable 4).
  • the intermediate docking station 2 could be controlled to exhibit a desired dynamic state or transient state, yet still partly or largely decoupled from the dynamic motions of the surface vessel 1.
  • a dynamic state could be used e.g. to synchronize the intermediate docking station 2 with an underwater vehicle, e.g. a glider-type AUV utilizing variable buoyancy as means for propulsion, whereby the underwater vehicle 3 itself is not suitable to maintain a stationary steady state
  • the depth, speed, posture and heading of the submerged docking station 2 through the water may be stabilized and/or altered, with the assistance of the controllers described with reference to Figures 1-4 and 8, and by: a) Affecting tow parameters at the surface vessel end of the tow cable, such as surface vessel speed and -heading, tow cable tension, paid out length-, reel velocity or exit point of cable; or b) Affecting tow parameters at the intermediate docking station end of the tow cable, such as hydrodynamic lift, drag or thrust, buoyancy and centre of buoyancy, centre of gravity or tow cable termination point; or c) Affecting tow parameters along the tow cable, such as catenary manipulation by means of buoyancy, drag, lift or weight; or d) Affecting the tow geometry, i.e. vertical and horizontal components of the distance between intermediate docking station and surface vessel.
  • Affecting tow parameters at the surface vessel end of the tow cable such as surface vessel speed and -heading, tow cable tension,
  • the resultant force vector of the intermediate docking station 2 and the intermediate docking station control devices should be in equilibrium with the force vector of the tow cable acting upon the intermediate docking station. Any offset from such equilibrium will cause the intermediate docking station 2 to move in some direction at a speed and direction commensurate with the extent of such offset.
  • the sum of the forces acting upon the intermediate docking station is zero, and the intermediate docking station will move at a constant speed and in a fixed direction. Any offset from this equilibrium will cause the intermediate docking station to accelerate/decelerate or change direction.
  • the control devices on the docking pod and the surface vessel may serve individually or in conjunction with each other.
  • the system may serve with few or many control devices, but where more control devices would generally yield an enhanced level of control.
  • a more comprehensive level of control would typically apply in a towed mode, where the intermediate docking station is trailing a surface vessel under way, and where multiple control devices may be engaged.
  • a less comprehensive level of control would typically apply in a stationary mode, where the intermediate docking station is suspended below a surface vessel at a standstill, and where applicable control devices may be restricted solely to active heave compensation of the tow (i.e. suspension) cable, unless that which could alternatively be achieved by using energized propulsors on the intermediate docking station or tow cable.
  • tow i.e. suspension
  • the tow and associated control devices would typically be controlled by one or more processor units.
  • the processor units receive input on the state of the control devices as well as the state of the tow, while being able to compute and send instructions back to the control devices on the intermediate docking station and the surface vessel to affect, notably tune, the tow.
  • the state of the tow could be assessed with sensors fitted to surface vessel 1 , tow cable 4 and/or intermediate docking station 2. Both absolute and relative reference systems could be applied, however, relative reference systems would be sufficient to achieve basic functionality. Relevant sensors would comprise depth sensors, speed sensors, heading- and posture sensors or other motion reference units, such as inertial devices, preferably with an accuracy and response time that would also allow for accurately deriving rate of change of the same parameters (such as accelerations). Given that the tow cable is not vertical and stiff as e.g. for a lift by a heave compensated crane, but has a catenary form (curvature), the cable itself is not a reliable indicator of the state of the intermediate docking station. For this reason, it will typically be required to fit multiple sensors on the intermediate docking station itself.
  • the underwater vehicles 3 would typically be provided with one or more relative positioning systems or transponders enabling the underwater vehicle 3 to locate the intermediate docking station 2 or vice versa.
  • the surface vessel 1 would typically be provided with a dynamic positioning system.
  • the dynamic positioning system utilizes similar sensors as explained above to automate the operation of the surface vessel’s propulsion systems to automatically maneuver and navigate the surface vessel according to given criteria such as e.g. station keeping or auto-tracking.
  • the input parameters to the dynamic positioning system and associated propulsion system may include at least one of sea state, such as prevailing, predicted or approaching wave heights or wave periods; or vessel motions, such as actual or predicted accelerations, velocities or motion periods.
  • Prevailing conditions correspond to experienced (after the fact) conditions (such as a passing wave train).
  • Predicted conditions is a forecast based on using experience or analytics to predict future conditions (e.g. using statistical or analytical wave models to predict the next one or two waves based on a wave train that has just passed).
  • Approaching conditions are those that can be determined in advance with sensors (e.g. using a wave radar or wave buoy to monitor incoming waves).
  • the response time of a dynamic positioning system which is typically governed by the response time of power supply and propulsors, can be configured as equal to or less than the surface vessel’s natural wave induced surge motions. This would provide for using the dynamic positioning system to actively counteract wave induced motions of the surface vessel, and thereby stabilize the tow by reducing excitation of the tow cable originating from dynamic vessel motions.
  • Input parameters for governing such optional feature would include the input parameters to the dynamic positioning system as described above.
  • the surface vessel may be a manned or unmanned vessel.
  • the surface vessel may be operated manually, partly- or fully remotely, automatically or autonomously.
  • the intermediate docking station may be controlled from the surface vessel.
  • the control from the surface vessel may be automatically or autonomously or semi-autonomously.
  • the intermediate docking station may also be operated semi-autonomously or autonomously based on preprogrammed mission data.
  • sensors for tow cable tension and distance between surface vessel and intermediate docking station could be applied.
  • Sensors may be local, such as sonar or inertial motion reference units, or utilize distributed technologies such as hydro acoustic or laser based transponder/reflector/sensor technologies for position reference. Parameters not directly obtained from sensors could alternatively be deduced analytically at various degrees of accuracy by formulae of physical dynamics.
  • the submersible intermediate docking station and/or at least one winch for the tow cable may be dynamically controlled by a controller based on input parameters related to at least one of actual or predicted motions of the surface vessel, or actual or predicted motions of the intermediate docking station, for controlling a tension of the tow cable.
  • the sea state may also be used as an input parameter for predicting the motions of the surface vessel.
  • the processor algorithms could be logical and prescriptive, or a level of fuzzy logic or artificial intelligence and machine learning could apply. Fuzzy logic and machine learning could employ routines for parameter variation to hone in on favourable control settings in given circumstances that yield the desired result, e.g. such as minimizing dynamic motions, even without establishing a logical reasoning therefore.
  • the processor algorithms could be devised to stabilize either end of the tow independently, i.e. single object optimization of surface vessel and intermediate docking station respectively, or could be devised to stabilize the entire tow collectively with presumed dependencies/transfer functions, i.e. multi object optimization of surface vessel, tow cable and/or intermediate docking station.
  • a processor-based control system may be substituted partly or fully by alternative control automation systems, which could even be a simple mechanical system, configured to hone in on- or self-stabilize at certain depth, speed and posture. Such an approach would be facilitated by the typical desired state of operation being a steady state equilibrium.
  • a processor-based or other automated control system could be substituted partly or fully by manual control.
  • the tow cable could be more comprehensively controlled by a catenary management system.
  • the system may analytically calculate the tow cable catenary form (curvature) utilizing basic input such as tow speed and tension in either end of the tow cable, or with further accuracy by using supplementary sensors such as tension gauges or position transponders along the cable, or current profilers to determine the hydro-mechanical environment surrounding the tow cable.
  • Figure 7 illustrates an intermediate docking station 2 maintained in a steady state, during which the underwater vehicle 3 undocks or docks.
  • the desired state of the intermediate docking station which is typically a stationary state, but may also be a dynamic or transient state as explained above
  • undocking of an underwater vehicle may take place either by the underwater vehicle being released and exiting the intermediate docking station by its own propulsion, or being pushed away with an ejection mechanism, or being dragged away by passing water, and/or the intermediate docking station being pulled away from the underwater vehicle, or a combination of any of the mentioned methods.
  • water drag this could be aided by employing adjustable louvres for through-flow control on the intermediate docking station 2 as described with reference to Figure 1.
  • the speed through water of the underwater vehicle 3 will then be less than the intermediate docking station 2 during undocking, resulting in the underwater vehicle 3 moving away from the intermediate docking station in relative terms.
  • Docking may take place by mating the underwater vehicle 3 and intermediate docking station 2 with each other. This could be performed either by the underwater vehicle 3 honing in on the intermediate docking station 2 maintained in a steady state, or by the intermediate docking station 2 honing in on the underwater vehicle 3 maintained in a steady state, or by a combination thereof. In either case, the speed through water of the underwater vehicle 3 is higher than the intermediate docking station 2 during docking, resulting in the underwater vehicle 3 moving in on the intermediate docking station 2 in relative terms.
  • the state of both the underwater vehicle 3 and intermediate docking station 2 will approach the same state, typically a steady state, but could be a dynamic state as earlier explained, at the moment of mating, with only a marginal difference in relative speed between the intermediate docking station 2 and the underwater vehicle 3 in order to come together.
  • Mating may also be assisted by a permanently or temporarily tethered underwater vehicle 3 being partly or fully pulled into the intermediate docking station 2 by means of a tensioned tether hauled in by a tether management system 31.
  • said tether may furthermore serve as a catchment device, in which case relevant fittings and methods for catchment would have to be devised.
  • the intermediate docking station 2 may typically be brought to the surface at some distance from the surface vessel 1 while under way, either by increasing the buoyancy, increasing pull on the tow cable 4 and/or positive hydrodynamic lift.
  • the tow cable 4 may be used to haul the intermediate docking station towards the surface vessel, and ultimately to retrieve the intermediate docking station onto or into the surface vessel by such launch and recovery method- and features as already described with reference to Figure 4.
  • the intermediate docking station 2, inclusive of the underwater vehicle 3 as the case may be, will typically be only marginally buoyant at this stage to limit wave induced excitations of the intermediate docking station in the surface position.
  • the intermediate docking station 2 may alternatively be made more or less buoyant to such extent that would yield the best synchronization of vertical motions between intermediate docking station 2 and surface vessel 1. Any protruding controllers on the body 20 of the intermediate docking station 2 would typically be retracted or folded. In the surface position, the intermediate docking station is marginally buoyant and will remain at the surface, but with limited buoyancy. Inertia will tend to keep motions less than the surface variability of passing waves.
  • the tow cable may be more reliably maintained in tension, such that intermediate docking station and surface vessel may naturally align and synchronize along the horizontal axis (i.e. principal direction of launch and recovery while surface vessel is underway). Separation is thus provided for, thereby reducing the risk of bending and breaking of the tow cable 4 and collision between surface vessel 1 and vehicle 2, even in inclement weather conditions.
  • the intermediate docking station 2 is ruggedized as already described with reference to Figure 1 , and/or the underwater vehicle 3 is protected by the body 20 of the intermediate docking station 2 as already described with reference to Figure 3, and/or the receiving ramp 11 or cable exit is arranged with such tapering sides, guides or manipulators as already described with reference to Figure 1, then considerable jolts, impacts and misalignments could be permitted, thus enabling recovery in inclement weather conditions.
  • Recovery may take place with the underwater vehicle 3 securely docked to the intermediate docking station 2, or could alternatively take place with the intermediate docking station 2 empty, which may apply following release of an untethered underwater vehicle 3, or in case the intermediate docking station 2 will be retrieved whereas a tethered 5 underwater vehicle 3 will remain submerged, as illustrated in Figure 9.
  • the intermediate docking station 2 may be recovered via a moonpool 13 or hoist, in which case the recovery will typically take place while the surface vessel 1 is stationary, with the intermediate docking station 2 negatively buoyant, and by increasing pull on the tow cable.
  • Such operation will be analogous to conventional launch and recovery, apart from the possibility that the underwater vehicle could be protected by the body of the intermediate docking station.
  • the intermediate docking station 2 as described herein may be used with various configurations and for various purposes, of which principal operating modes are outlined in the following.
  • Figure 8 illustrates typical two survey modes a) and b) with a tethered underwater vehicle 3 under way.
  • Figure 8 a) shows the underwater vehicle 3 trailing the intermediate docking station 2, thereby distributing more of the tether drag to the intermediate docking station, which in turn may allow for higher speed (assuming the speed is restricted by the thrust of the underwater vehicle, which is commonly the case).
  • Figure 8 b) shows the underwater vehicle 3 traversing alongside the intermediate docking station 2, thereby allowing more flexibility for relative motions between underwater vehicle 3 and intermediate docking station 2. This may in turn allow for maintaining operations in adverse weather conditions, where a steady state for the intermediate docking station 2 may not be ensured due to excessive motions of the surface vessel 1, but may compromise speed.
  • Figure 9 illustrates alternative survey or stationary work modes a) and b) with a tethered underwater vehicle 3 in shallow water.
  • it could be impractical or of no benefit to maintain a intermediate docking station 2 in the water, since tether length and any associated drag, or length restriction of the tether as the case may be, may not pose a restriction on operation.
  • the intermediate docking station 2 may be retrieved back to the surface vessel 1 , whereas the underwater vehicle 3 remains submerged while effectively tethered directly to the surface vessel 1. This could simplify operations, and be particularly suitable for works scopes that comprise successive stationary works and short repositionings.
  • Figure 10 illustrates a stationary work mode with a tethered underwater vehicle 3 in deep water, in which case it could be beneficial or required to maintain the intermediate docking station 2 in the water to conserve tether length 5 or to prevent excessive current induced drag on a lengthy tether 5.
  • the intermediate docking station 2 may be suspended under a stationary surface vessel 1 , adjacent to the underwater vehicle 3. This would allow the underwater vehicle 3 to work with a short tether 5.
  • This mode of operation is analogous to a conventional tether management system, but with the difference that the intermediate docking station 2 may serve as a protective housing and less weather dependent means to launch and recover underwater vehicles.
  • Figure 11 illustrates a survey mode with the intermediate docking station 2 operating independent from an underwater vehicle, by instead fitting e.g. survey equipment directly onto the intermediate docking station 2, and thus omitting the use of tethered or untethered underwater vehicles.
  • the intermediate docking station may then operate as a survey platform.
  • the intermediate docking station may carry an underwater vehicle for stand-by only, such as to inspect anomalies or objects of interest observed during said survey.
  • Figure 12 illustrates an overview of several prospective modes of operation for the intermediate docking station and underwater vehicle, as well as the select positions of the intermediate docking station during undocking and docking the underwater vehicle from and to the intermediate docking station, as well as launch and recovery of the intermediate docking station from and to the surface vessel, as explained above. It may also be envisaged that more than one intermediate docking station 2 and underwater vehicle 3 may be in the water at the same time.
  • An intermediate docking station with underwater vehicle may e.g. be launched from the stern ramp and later when the surface vessel is in a stationary mode, another intermediate docking station and underwater vehicle may launched from the moonpool of the surface vessel.
  • the intermediate docking station 2 may be used to service untethered underwater vehicles 3, in which case the intermediate docking station may be used as a less weather dependent means to launch and recover underwater vehicles. Furthermore, the intermediate docking station 2 may be submerged as required, or remain submerged for prolonged periods, either towed under way or suspended below a stationary surface vessel 1 , during which underwater vehicles 3 could dock with the intermediate docking station 2 e.g. for electrical charging of batteries or exchange of electronic data back to the surface vessel and beyond, but without having to resurface.
  • the intermediate docking station may similarly be used carry payloads or instruments and to deliver and retrieve payloads or instruments to and from submerged underwater vehicles. It may also be envisaged to operate battery powered underwater vehicles with a tether solely serving as a signal (not power) cable e.g. during select periods where high data transmission rates are required.

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  • 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)
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Abstract

La présente invention concerne une station de mise à quai intermédiaire submersible pour au moins un véhicule sous-marin attaché ou non attaché, conçue pour être reliée à un navire de surface par l'intermédiaire d'un câble de remorquage. La station de mise à quai intermédiaire submersible et/ou le câble de remorquage peuvent être commandés pour atteindre un ou plusieurs équilibres pouvant être sélectionnés entre un vecteur de force résultant du câble de remorquage agissant sur la station de mise à quai intermédiaire submersible et un vecteur de force résultant de la station de mise à quai intermédiaire submersible agissant à l'opposé du câble de remorquage, les mouvements de la station de mise à quai intermédiaire submersible étant partiellement ou largement découplés des mouvements du navire de surface.
PCT/NO2020/050232 2019-09-12 2020-09-11 Station de mise à quai intermédiaire pour des véhicules sous-marins WO2021049949A1 (fr)

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