WO2023228109A1 - Système de connexion et procédé pour connecter un véhicule sous-marin autonome à un véhicule flottant - Google Patents

Système de connexion et procédé pour connecter un véhicule sous-marin autonome à un véhicule flottant Download PDF

Info

Publication number
WO2023228109A1
WO2023228109A1 PCT/IB2023/055344 IB2023055344W WO2023228109A1 WO 2023228109 A1 WO2023228109 A1 WO 2023228109A1 IB 2023055344 W IB2023055344 W IB 2023055344W WO 2023228109 A1 WO2023228109 A1 WO 2023228109A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
connecting device
underwater vehicle
unmanned underwater
floating
Prior art date
Application number
PCT/IB2023/055344
Other languages
English (en)
Inventor
Diego Lazzarin
Alberto Serena
Original Assignee
Saipem S.P.A.
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 Saipem S.P.A. filed Critical Saipem S.P.A.
Publication of WO2023228109A1 publication Critical patent/WO2023228109A1/fr

Links

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
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • the present invention relates to a connecting system and to a connecting method for connecting an unmanned underwater vehicle to a vehicle floating in a body of water .
  • these AUVs are assisted on the surface by a floating support vehicle , which is configured to launch, control and retrieve on board the AUV .
  • these AUVs As they are not connected to external power sources , these AUVs have a limited autonomy in terms of time of use , space that can be covered with a s ingle charge and exertable force .
  • the AUV to be recharged is typically retrieved on board the floating support vehicle or, alternatively, it is retrieved in an underwater housing station connected to the floating support vehicle via an umbilical .
  • An obj ect of the present invention is to provide a connecting system for connecting an unmanned underwater vehicle to a floating vehicle in a body of water that is able to overcome the drawbacks of the prior art .
  • the obj ect of the present invention is to allow the transport , the recharging and the data exchange of the unmanned underwater vehicle in a simple and risk- free manner, while keeping the unmanned underwater vehicle in the body of water .
  • a connecting system for connecting an unmanned underwater vehicle to a floating vehicle in a body of water comprising : a connecting device configured to be connected mechanically and/or electrically and/or for data exchange to the unmanned underwater vehicle in the body of water ; and
  • an articulated arm which is configured to be mounted to the floating vehicle and is connected to the connecting device so as to control the position and the orientation of the connecting device in the body of water .
  • the floating vehicle it is thus not necessary for the floating vehicle to be equipped with a bulky launch and retrieval system in order to launch and retrieve the unmanned underwater vehicle and, as a result , it is possible for the floating vehicle to have reduced dimensions or for the space dedicated to the launch and retrieval system to be used for other purposes .
  • the articulated arm comprises an actuation assembly configured to control the position and the orientation of the connecting device with respect to the unmanned underwater vehicle .
  • the low mass and high manoeuvrability of the articulated arm allow the connecting device to be moved in the body of water precisely and quickly and simpli fy the docking of the unmanned underwater vehicle .
  • the articulated arm moves a small mass of water, which increases the inertia of the articulated arm in the body of water to a limited extent .
  • the articulated arm comprises a support element configured to be solidly coupled to the floating vehicle ; a first elongated element , which extends along a first longitudinal axis and is hinged to the support element about a first rotation axis ; a second elongated element , which extends along a second longitudinal axis , is hinged to the first elongated element about a second rotation axis and carries the connecting device ; preferably the first rotation axis being transverse to the second rotation axis .
  • the articulated arm Due to the fact that the first elongated element is hinged to the support element about a first rotation axis and the second elongated element is hinged to the first elongated element about a second rotation axis , the articulated arm has two degrees of freedom with respect to the floating vehicle . This way, the articulated arm allows the connecting device to achieve a plurality of di fferent positions in the body of water .
  • the actuation assembly comprises a first actuator configured to control the rotation of the first elongated element about the first rotation axis ; and a second actuator configured to control the rotation of the second elongated element about the second rotation axis .
  • the first elongated element comprises a first body and a second body hinged to each other about a third rotation axis substantially parallel to the second rotation axis .
  • the actuation assembly comprises a third actuator configured to control the relative rotation of the second body with respect to the first body about the third rotation axis in a simple and precise manner .
  • the articulated arm comprises a connecting j oint for connecting an end of the second elongated element to the connecting device .
  • the connecting j oint is configured to allow the relative rotation of the connecting device about a fourth rotation axis and about a fi fth rotation axis .
  • the connecting j oint gives the connecting device two degrees of freedom with respect to the articulated arm . This allows the connecting device to be oriented in the body of water in a plurality of di f ferent directions .
  • the first elongated element extends along the first longitudinal axis for a first length greater than the metacentric roll height o f the floating vehicle on which the articulated arm is mounted .
  • Metacentric roll height is understood as the distance between the roll metacentre of a f loating body and its centre of gravity .
  • the second elongated element extends along the second longitudinal axis for a second length greater than the metacentric pitching height of the floating vehicle on which the articulated arm is mounted .
  • Metacentric pitching height is understood as the distance between the pitching metacentre of a floating body and its centre of gravity .
  • the connecting device comprises a plate .
  • the connecting device comprises at least one mechanical connector configured to releasably engage the unmanned underwater vehicle .
  • the mechanical connector allows the connecting device to be selectively engaged/disengaged by the unmanned underwater vehicle .
  • the connecting device comprises an inductive connector configured to be connected electrically and/or for data exchange to the unmanned underwater vehicle .
  • the connecting system comprises a control unit configured to control the actuation assembly so as to arrange the connecting device at the unmanned underwater vehicle and to orient the connecting device towards the unmanned underwater vehicle .
  • the connecting device comprises at least one sensor configured to detect the relative position between the unmanned underwater vehicle and the connecting device , preferably the at least one sensor being of an optical or acoustic type ; the control unit being configured to control the actuation assembly as a function of the detected relative position .
  • a further obj ect of the present invention is to provide a navigation assembly that is not subj ect to the drawbacks of the known art .
  • a navigation assembly that comprises :
  • - a floating vehicle configured to navigate on a body of water ;
  • an unmanned underwater vehicle configured to navigate in the body of water ;
  • the navigation assembly By means of the navigation assembly, it is possible to recharge and trans fer the unmanned underwater vehicle from a work site to a further work site , while keeping the unmanned underwater vehicle in the body of water during the steps of transporting and/or of recharging the unmanned underwater vehicle .
  • the floating vehicle is an autonomous unmanned vehicle and the unmanned underwater vehicle is of an AUV type .
  • a further obj ect of the present invention is to provide a connecting system for connecting an unmanned underwater vehicle to a floating vehicle in a body of water that is not subj ect to the drawbacks of the prior art .
  • a connecting method for connecting an unmanned underwater vehicle to a floating vehicle in a body of water comprising the steps of :
  • the present method allows the floating vehicle to be connected to the underwater vehicle quickly and easily . It is thus possible to recharge and/or transport the unmanned underwater vehicle without the need to retrieve the unmanned vehicle on board the floating vehicle .
  • FIG. 1 is a side elevation view, with parts removed for clarity, of a navigation assembly provided in accordance with the present invention
  • FIG. 2 is a front view, with parts removed for clarity, of the navigation assembly of Figure 1 ;
  • FIG. 3 is an enlarged view, with parts removed for clarity, of a detail of the navigation assembly of Figure 1 ;
  • FIG. 4 is a front view, with parts removed for clarity, of a detail of the navigation assembly of Figure 1 ;
  • FIGS. 5 and 6 are side elevation views , with parts removed for clarity, of the navigation assembly of Figure 1 in respective operating configurations .
  • the reference number 1 indicates , as a whole , a navigation assembly employed in a body of water 2 .
  • the navigation assembly 1 comprises a floating vehicle 3 configured to navigate on the body of water 2 ; an unmanned underwater vehicle 4 configured to navigate in the body of water 2 ; and a connecting system 5 , which is mounted to the floating vehicle 3 and is configured to connect the floating vehicle 3 to the underwater vehicle 4 in the body of water 2 .
  • the floating vehicle 3 can be any type of manned or unmanned vessel configured to navigate on a body of water .
  • the floating vehicle 3 is an autonomous unmanned vehicle .
  • the underwater vehicle 4 is of an AUV ( autonomous unmanned vehicle ) type .
  • the underwater vehicle 4 is of a ROV ( remotely operated vehicle ) type .
  • the connecting system 5 comprises a connecting device 6 configured to be connected mechanically and/or electrically and/or for a data exchange to the underwater vehicle 4 in the body of water 2 ; and an articulated arm 7 , which is configured to be mounted to the floating vehicle 3 , and which is connected to the connecting device 6 so as to control the position and the orientation of the connecting device 6 in the body of water 2 .
  • the articulated arm 7 comprises an actuation assembly 8 configured to control the position and the orientation of the connecting device 6 with respect to the unmanned underwater vehicle 4 .
  • the articulated arm 7 comprises a support element 9 configured to be solidly coupled to the floating vehicle 3 ; an elongated element 10 , which extends along a first longitudinal axis Al and is hinged to the support element 9 about a rotation axis R1 ; an elongated element 11 , which extends along a longitudinal axis A2 , is hinged to the elongated element 10 about a rotation axis R2 and carries the connecting device 6 .
  • the rotation axis R1 is transverse to the rotation axis R2 ; preferably the rotation axis R1 and the rotation axis R2 are substantially perpendicular to each other .
  • the elongated element 10 is hinged to the support element 9 by an end 12 and is hinged to the elongated element 11 by an end 13 opposite the end 12 .
  • the elongated element 11 is hinged to the elongated element 10 at an end 14 and carries the connecting device 6 at an end 15 opposite the end 14 .
  • the support element 9 is configured to be fixed to a gunwale of the floating vehicle 3 so as to protrude in a cantilevered manner from said gunwale towards the body of water 2 ( Figure 2 ) .
  • the elongated element 10 comprises a body 16 and a body 17 hinged to each other about a rotation axis R3 substantially parallel to the rotation axis R2 .
  • the elongated element 10 can be formed by a single elongated body extending along the longitudinal axis Al .
  • the elongated element 10 extends along the longitudinal axis Al for a length LI greater than the metacentric roll height of the floating vehicle 3 on which the articulated arm 7 is mounted .
  • the elongated element 11 extends along the longitudinal axis A2 for a length L2 greater than the metacentric pitching height of the floating vehicle 3 on which the articulated arm 7 is mounted .
  • the actuator assembly 8 comprises an actuator 18 configured to control the rotation of the elongated element 10 about the rotation axis R1 ( Figure 2 ) ; and an actuator 19 configured to control the rotation of the elongated element 11 about the rotation axis R2 .
  • the actuator 18 is configured to act between the support element 9 and the elongated element 10 .
  • the actuator 19 is configured to act between the elongated element 10 and the elongated element 11 .
  • the actuation assembly 8 comprises an actuator 20 configured to control the relative rotation of the body 17 with respect to the body 16 about the rotation axis R3 .
  • each actuator 18 , 19 and 20 comprises a hydraulic cylinder .
  • the articulated arm 7 comprises a connecting j oint 21 for connecting the end 15 of the elongated element 11 to the connecting device 6 .
  • the connecting j oint 21 is configured to allow the relative rotation of the connecting device 6 about a rotation axis R4 and about a rotation axis R5 ; preferably the rotation axes R4 and R5 are substantially perpendicular to each other .
  • the actuation assembly 8 comprises further actuators , not shown in the attached figures , configured to control the rotation of the connecting device 6 about the rotation axis R4 and the rotation axis R5 .
  • the connecting device 6 comprises a plate 22 .
  • the connecting device 6 comprises two mechanical connectors 23 configured to releasably engage the underwater vehicle 4 .
  • Each mechanical connector 23 is arranged on the plate 22 and comprises a quick-release coupling, not shown in the attached figures .
  • the connecting device 6 comprises an inductive connector 24 , which is coupled to the plate 22 and is configured to be connected electrically and/or for data exchange to the underwater vehicle 4 .
  • the connecting device 6 comprises a plurality of inductive connectors 24 .
  • the connecting device 6 comprises at least one sensor 25 configured to detect the relative position between the underwater vehicle 4 and the connecting device 6 .
  • the connecting device 6 comprises two sensors 25 of an optical type , preferably video cameras or photo cameras .
  • Each sensor 25 of an optical type is configured to detect the position and/or the orientation of at least one particular identi fying element arranged on a portion of the underwater vehicle 4 facing the connecting device 6 during the connection of the connecting device 6 and the underwater vehicle 4 .
  • each sensor 25 is of an acoustic type such as , for example , a sonar .
  • the connecting device 6 comprises at least one , preferably laser, positioning element configured to emit a light beam detectable by the sensors 25 so as to veri fy the correct alignment of the connecting device 6 with the underwater vehicle 4 .
  • the connecting system 5 comprises a control unit 26 ( Figure 1 ) configured to control the actuation assembly 8 so as to arrange the connecting device 6 at the underwater vehicle 4 and to orient the connecting device 6 towards the underwater vehicle 4 during the connection of the connecting device 6 and the underwater vehicle 4 .
  • control unit 26 is connected to the sensors 25 and is configured to control the actuation assembly 8 in a closed loop as a function of the relative position detected by the sensors 25 .
  • control unit 26 controls the actuation assembly 8 by actuating the actuators 18 , 19 and 20 so as to control the position and the orientation of the connecting device 6 with respect to the underwater vehicle 4 .
  • control unit 26 controls the actuation assembly 8 in a closed loop as a function of the relative position detected by the sensors 25 so that the connecting device 6 follows the position and the orientation of the underwater vehicle 4 .
  • each mechanical connector 23 engages the underwater vehicle 4 and the inductive connector 24 is connected electrically and for data exchange to the underwater vehicle 4 .
  • the actuators 18 , 19 and 20 of the actuation assembly 8 are placed in a neutral configuration, so as to allow the free rotation of the elongated element 10 with respect to the support element 9 , the free rotation of the elongated element 11 with respect to the elongated element 10 , and the free rotation of the connecting device 6 about the connecting j oint 21 .
  • connection of the underwater vehicle 4 and the connecting device 6 is carried out close to the surface of the body of water 2 or partially above the surface of the body of water 2 .
  • the underwater vehicle 4 is arranged at the surface o f the body of water 2 and the control unit 26 controls the actuation assembly 8 by actuating the actuator 20 so as to rotate the body 17 with respect to the body 16 about the rotation axis R3 and arrange the connecting device 6 in the vicinity of the underwater vehicle 4 .

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)

Abstract

L'invention concerne un système de connexion pour connecter un véhicule sous-marin autonome (4) à un véhicule flottant (3) dans une masse d'eau (2), ce système étant pourvu d'un dispositif de connexion (6) conçu pour être connecté mécaniquement et/ou électriquement et/ou pour permettre un échange de données avec le véhicule sous-marin autonome (4) dans la masse d'eau (2) ; et un bras articulé (7) qui est conçu pour être monté sur le véhicule flottant (3) et qui est connecté au dispositif de connexion (6) de façon à contrôler la position et l'orientation du dispositif de connexion (6) dans la masse d'eau (2).
PCT/IB2023/055344 2022-05-26 2023-05-24 Système de connexion et procédé pour connecter un véhicule sous-marin autonome à un véhicule flottant WO2023228109A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102022000011060A IT202200011060A1 (it) 2022-05-26 2022-05-26 Sistema e metodo di collegamento per collegare un veicolo subacqueo senza equipaggio ad un veicolo galleggiante
IT102022000011060 2022-05-26

Publications (1)

Publication Number Publication Date
WO2023228109A1 true WO2023228109A1 (fr) 2023-11-30

Family

ID=82942992

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2023/055344 WO2023228109A1 (fr) 2022-05-26 2023-05-24 Système de connexion et procédé pour connecter un véhicule sous-marin autonome à un véhicule flottant

Country Status (2)

Country Link
IT (1) IT202200011060A1 (fr)
WO (1) WO2023228109A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117104433A (zh) * 2023-09-20 2023-11-24 海底鹰深海科技股份有限公司 抛弃式声纳以及抛弃式声纳和船舶的交互方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015049679A1 (fr) * 2013-10-01 2015-04-09 Israel Aerospace Industries Ltd. Système et procédé de lancement et de récupération
CN107351999A (zh) * 2017-08-16 2017-11-17 中船华南船舶机械有限公司 一种深潜器布放回收系统及布放回收方法
WO2019115262A1 (fr) * 2017-12-12 2019-06-20 Atlas Elektronik Gmbh Dispositif de déversement et de récupération pour la récupération et/ou le déversement d'un objet et ensemble de véhicules composé d'un navire porteur et d'un véhicule sous-marin
US20220033042A1 (en) * 2018-09-21 2022-02-03 Usea As A marine structure comprising a launch and recovery system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015049679A1 (fr) * 2013-10-01 2015-04-09 Israel Aerospace Industries Ltd. Système et procédé de lancement et de récupération
CN107351999A (zh) * 2017-08-16 2017-11-17 中船华南船舶机械有限公司 一种深潜器布放回收系统及布放回收方法
WO2019115262A1 (fr) * 2017-12-12 2019-06-20 Atlas Elektronik Gmbh Dispositif de déversement et de récupération pour la récupération et/ou le déversement d'un objet et ensemble de véhicules composé d'un navire porteur et d'un véhicule sous-marin
US20220033042A1 (en) * 2018-09-21 2022-02-03 Usea As A marine structure comprising a launch and recovery system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117104433A (zh) * 2023-09-20 2023-11-24 海底鹰深海科技股份有限公司 抛弃式声纳以及抛弃式声纳和船舶的交互方法

Also Published As

Publication number Publication date
IT202200011060A1 (it) 2023-11-26

Similar Documents

Publication Publication Date Title
US9592895B2 (en) Underwater docking system and docking method using the same
EP1218238B1 (fr) véhicule submersible
US8336479B2 (en) Systems and methods of use for submerged deployment of objects
US6223675B1 (en) Underwater power and data relay
US6167831B1 (en) Underwater vehicle
RU2660197C2 (ru) Инструменты и датчики, размещаемые посредством беспилотных подводных транспортных средств
US6390012B1 (en) Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle
WO2023228109A1 (fr) Système de connexion et procédé pour connecter un véhicule sous-marin autonome à un véhicule flottant
US11845521B2 (en) Marine structure comprising a launch and recovery system
US20160186534A1 (en) Subsea system comprising a crawler
CN111268071A (zh) 分体拖缆式水面—水下无人航行器
CN114394215B (zh) 主动捕获水下潜航器对接机构及其工作方法
Cruz et al. A lightweight docking station for a hovering AUV
Raugel et al. Operational and scientific capabilities of Ariane, Ifremer’s hybrid ROV
WO2019169173A1 (fr) Véhicule d'inspection sous-marin
Morinaga et al. Development of a Docking Station ROV for Underwater Power Supply to AUVs
KR20230091656A (ko) 수중 이동 장치
EP3758897B1 (fr) Véhicule d'inspection sous-marin
WO2023228117A1 (fr) Dispositif de couplage pour connecter un véhicule sous-marin autonome à un véhicule flottant et ensemble de navigation comprenant ledit dispositif de couplage
CN117508464A (zh) 一种浮箱式auv布放与回收装置
CN118163919A (zh) 一种海底自主拾取机器人
Vertut et al. Underwater applications

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23730953

Country of ref document: EP

Kind code of ref document: A1