Device for launching and / or recovering an unmanned underwater vehicle from the water

Abstract

A device (20) for launching and / or recovering an unmanned underwater vehicle from the water (30) onto a platform (24) is disclosed. The device comprises a boom (26), a cable winch (28) attached to the boom, and a multi-stage anti-sway system (32). The boom (26) is designed to project beyond an edge of the platform (24). The cable winch is designed to pull the unmanned underwater vehicle (22) substantially vertically out of the water (30). The multi-stage anti-sway system (32) is designed to reduce swaying of the unmanned underwater vehicle (22) when the unmanned underwater vehicle (22) is suspended completely in the air from the cable winch (28). The boom (26) has a receptacle (41) for the unmanned underwater vehicle (22). One stage of the anti-pendulum system (32) is designed to fix the unmanned underwater vehicle (22) in the receptacle (41).

Description

[0001] The invention relates to a device for launching and / or recovering an unmanned underwater vehicle, in particular a remotely operated, i.e., cable-guided, unmanned underwater vehicle (ROV), from the water. The device can be arranged on any platform, typically a ship, but also, for example, on an oil rig or on the coast on the mainland.

[0002] The launching and recovery of underwater vehicles using a (lifting) device, for example a crane, poses a danger to bystanders and the material, particularly due to the pendulum movements of the underwater vehicle, especially if the device is to be folded up with the underwater vehicle to save space.

[0003] The object of the present invention is therefore to provide an improved concept for the launching and / or recovery of underwater vehicles.

[0004] This object is achieved by the subject matter of the independent patent claims. Further advantageous embodiments are the subject matter of the dependent patent claims.

[0005] Embodiments show a device for launching and / or recovering an unmanned underwater vehicle from the water onto a platform. The device can also be referred to as a crane. The device comprises a boom with a receptacle for the unmanned underwater vehicle, a cable winch attached to the boom, and a multi-stage anti-sway system. The boom is designed to protrude beyond an edge of the platform. This means that the boom is attached to the platform but is shaped and oriented such that at least a part of the boom, in particular the part with the cable winch, hangs above the water. The cable winch can have a drum for winding up a traction means and optionally one or more deflection pulleys. If one of the components, e.g. a deflection pulley, is attached to the boom, the feature that the cable winch is attached to the boom is fulfilled.The drum can then be arranged on the platform, for example.

[0006] The cable winch is designed to pull the unmanned underwater vehicle essentially vertically out of the water. Essentially vertically implies that in the water, particularly when the device is mounted on a moving vessel, the underwater vehicle is initially lifted at a small angle from the side facing away from the device. When leaving the water, a pendulum movement usually occurs so that the underwater vehicle oscillates around the plumb, i.e. vertical, position. However, pulling the underwater vehicle up via an inclined ramp is not included. Rather, essentially vertical pulling out of the water means that the unmanned underwater vehicle is lifted in a free-floating manner, at least in a first part of the recovery process, which includes lifting the underwater vehicle out of the water.

[0007] The multi-stage anti-sway system is designed to reduce swaying of the unmanned underwater vehicle, particularly during a final part of the recovery process and / or a first part of the launching process, when the unmanned underwater vehicle is completely suspended in the air on the cable winch. The final part of the recovery process is or includes reaching the final position for the unmanned underwater vehicle and pivoting it into the receptacle. The final position for the underwater vehicle is the position in which the cable winch is maximally retracted. This is followed by pivoting the receptacle. One stage of the anti-sway system is designed to fix the unmanned underwater vehicle in the receptacle. When retrieving the underwater vehicle, this stage is advantageously the last stage of the anti-sway system.A mount is any surface that allows the unmanned underwater vehicle to be securely fixed without pendulum movement.

[0008] The idea behind the proposed device is to secure the unmanned underwater vehicle, at least when fully retrieved, using simple means so that it poses no danger during further transport. Typically, a mission of the unmanned underwater vehicle involves transporting the unmanned underwater vehicle to its predetermined deployment position within the device. To complete the mission, the unmanned underwater vehicle is lowered into the water. The unmanned underwater vehicle completes its mission in the water. The device then retrieves the unmanned underwater vehicle and secures it for further transport.

[0009] In particular, securing the underwater vehicle in the receptacle facilitates folding the boom into its transport position. In embodiments, the device can be folded, in particular in order to change from its recovery position to the transport position, so that the boom is located predominantly, in particular completely, on the platform. In particular, the boom is folded in such a way that the receptacle for the underwater vehicle points upwards and a rear side of the boom opposite the receptacle points towards the top of the platform. In other words, the boom can be pivoted overhead. This means that a (folding) axis for folding the boom can lie parallel to the top of the platform.

[0010] In exemplary embodiments, the boom extends diagonally upwards from the platform in an area in which the receptacle for the unmanned underwater vehicle is arranged. Due to the diagonal course, the boom can extend beyond the edge of the platform, but still prevents damage from unavoidable residual pendulum movements of the underwater vehicle when pivoting into the receptacle. In addition, the pivoting movement for pressing the underwater vehicle against the receptacle requires a rotation of less than 90°. Furthermore, the diagonal course is advantageous for folding the boom. A rotation of less than 180° is sufficient to pivot the boom from the recovery position to the transport position.

[0011] Embodiments further show that the boom has a positioning element in an end position for the unmanned underwater vehicle, wherein the positioning element and the unmanned underwater vehicle have a mutually corresponding projection-cavity pair in an end region, so that the end region is restricted in its movement in the end position of the unmanned underwater vehicle. This means that the underwater vehicle, in its end region, at which the cable winch engages the underwater vehicle, has, for example, a projection that engages in a corresponding cavity of the positioning element. However, the projection can also be arranged on the positioning element, so that the end region of the unmanned underwater vehicle then has the cavity. The positioning element thus represents an optional stage of the multi-stage anti-sway system, in particular a first stage.

[0012] Preferably, the positioning element is rotatably connected to the boom by means of a joint, allowing rotation of the positioning element in the direction of the receptacle for the unmanned underwater vehicle. The rotatable mounting enables the actuator(s) to pivot the unmanned underwater vehicle in the positioning element from its end position into the receptacle.

[0013] Further preferably, the positioning element is spring-mounted. A sensor detects the final position of the unmanned underwater vehicle and deactivates the winch before the spring stops. This prevents a stop of the projection in the cavity from causing a force peak in the traction cable, which could cause the cable to break.

[0014] In exemplary embodiments, the mutually corresponding projection-cavity pair is designed such that the underwater vehicle can only assume a defined number of orientations in the final position. This means that the underwater vehicle assumes the orientations relative to the positioning element. The orientations are, in particular, different rotations or angles of rotation about the roll axis of the unmanned underwater vehicle. Preferably, the unmanned underwater vehicle has a maximum of four or a maximum of two different orientations or exactly one possible orientation. Due to the positions that the underwater vehicle can assume, which are thus limited to the defined number of orientations, it is possible, for example, for the bracket described below, not to hit any attachments of the unmanned underwater vehicle and / or it is made easier for an electromagnet of the device to actuate a magnetic actuator, e.g.to operate an on / off switch of the unmanned underwater vehicle and / or it enables a better self-test of the vehicle's internal navigation sensors before the start of the mission.

[0015] In exemplary embodiments, the multi-stage anti-sway system has a bracket which is designed to touch the unmanned underwater vehicle at least at one point in the end position in order to prevent the unmanned underwater vehicle from swaying beyond this point. This point is preferably located where there are no add-on parts, such as sensors, in particular antennas, cameras, transponders, etc. on the underwater vehicle. More preferably, this point is located in the front region of the ROV, in particular in the front half of the ROV. Due to the larger lever arm, this makes it possible to exert the greatest possible influence on the swaying movement with little effort on the underwater vehicle swaying at the stern. This means that the bracket provides a stop at this point in order to reduce the swaying of the underwater vehicle. The bracket is preferably designed as an actuator. This means that the bracket is rotatably mounted and has a drive.This allows the bracket to be moved closer to the underwater vehicle to contact it, for example, when the unmanned underwater vehicle has reached its final position. The bracket is preferably designed as a track around the ROV and thus has attachment points in multiple spatial directions. The pendulum motion of the unmanned underwater vehicle is increasingly restricted as the bracket is rotated further, and the bracket ultimately forces the unmanned underwater vehicle to pivot from its final position into the receptacle for the unmanned underwater vehicle. The pivoting into the receptacle for the unmanned underwater vehicle preferably occurs before the boom is folded in.

[0016] In further embodiments, the multi-stage anti-sway system has a fixing rod which is designed to contact the unmanned underwater vehicle at least in its end position at least at one point in order to prevent movements of the unmanned underwater vehicle beyond this point. Preferably, the fixing rod and the bracket contact the unmanned underwater vehicle at different positions. For example, it is possible for the fixing rod to restrict movements of the unmanned underwater vehicle more strongly (e.g. in an additional degree of freedom) than the bracket has already restricted the swaying of the unmanned underwater vehicle. The reduction in movements can be achieved, for example, by the unmanned underwater vehicle having a projection and the fixing rod fixing this projection mechanically, e.g. by reaching into or enclosing it.In other words, the bracket suppresses the swaying of the underwater vehicle, while the fixing rod reduces other movements, such as sliding movements or wobbling of the unmanned underwater vehicle in the holder. The fixing rod can, like the bracket, be designed as an actuator. This means that the fixing rod is rotatably mounted and has a drive. This means that the actuator can be brought closer to the underwater vehicle in order to touch it, for example when the unmanned underwater vehicle has been swiveled onto the holder using the bracket. In this way, the fixing rod, alone or together with the bracket, can fix the unmanned underwater vehicle in the holder for the unmanned underwater vehicle.

[0017] In further embodiments, the device comprises a securing element designed to mechanically secure the unmanned underwater vehicle in the receptacle. The securing element is preferably arranged in a region of the receptacle in which the front region of the unmanned underwater vehicle is located. For example, the securing element can be pushed over the nose of the unmanned underwater vehicle as a hood when the unmanned underwater vehicle is in the receptacle.

[0018] For example, the securing element encloses the vehicle's nose like a hood, preventing (in transport position) movement of the vehicle's nose to the right / left, up / down, and forward movement of the entire vehicle. The locking rod, in combination with the projection on the unmanned underwater vehicle, prevents right / left and up / down movement of the vehicle's rear, as well as overall forward / backward movement by enclosing the projection. Thus, the nose and rear are locked in all translational degrees of freedom, preventing all rotational movements.

[0019] The unmanned underwater vehicle can now be secured in the mount by one or any combination of the following features: the bracket, the positioning element, the fixing rod, the securing element.

[0020] In further embodiments, the device comprises an electromagnet configured to actuate a magnetic actuator of the unmanned underwater vehicle. In particular, the magnetic actuator may be an on / off switch of the unmanned underwater vehicle. This makes it possible to remotely switch the unmanned underwater vehicle on and off.

[0021] Preferred embodiments of the present invention are explained below with reference to the accompanying drawings. Fig. 1: a schematic side view of a device for launching and / or recovering an unmanned underwater vehicle in a first position of the device during the recovery operation; Fig. 2: a schematic side view of the device in a second position of the device during the recovery process; Fig. 3: a schematic side view of the device in a third position of the device during the recovery process; Fig. 4: a schematic side view of the device in a fourth position of the device during the recovery process; Fig. 5: a schematic side view of the device in a transport position of the device.

[0022] Before exemplary embodiments of the present invention are explained in more detail below with reference to the drawings, it is pointed out that identical, functionally identical or equivalent elements, objects and / or structures in the different figures are provided with the same reference numerals, so that the description of these elements shown in different exemplary embodiments is interchangeable or can be applied to one another.

[0023] Fig. 1 shows a schematic side view of a device 20 for launching and / or recovering an unmanned underwater vehicle 22 onto a platform 24. The device 20 comprises a boom 26 that projects beyond an edge of the platform 24. Furthermore, a cable winch 28 is attached to the boom 26, which can pull the unmanned underwater vehicle 22 essentially vertically out of the water 30. The cable winch 28 is shown here as a simple drum. However, it should be noted that it is possible for deflection pulleys of the cable winch to be attached to the boom, and for the actual drum for winding up the traction means to be arranged at any position on the platform.

[0024] The device 20 further comprises a multi-stage anti-sway system 32. A bracket 34, a fixing rod 36, a positioning element 38, and a securing element 40 are shown as different stages of the anti-sway system. These elements for reducing sway are rotatably connected to the boom by means of corresponding joints 34', 36', 38', 40'. The boom further has a receptacle 41 for the unmanned underwater vehicle 22. In the area forming the receptacle 41, a support block 42 is shown here as an example and optionally to enable better fixation of the unmanned underwater vehicle.

[0025] Fig. Figure 1 now shows the recovery process shortly before the unmanned underwater vehicle 22 reaches its final position. In this position, the underwater vehicle 22 is caused to pendulum movements, for example, due to sea movements of the platform 24. The elements of the anti-pendulum system 32 are opened so wide that no contact can occur between the underwater vehicle 22 and the device 20.

[0026] Fig. 2 shows the recovery process in which the unmanned underwater vehicle 22 has reached its final position in the positioning element 38 and thus secures the rear of the underwater vehicle 22.

[0027] Fig. Figure 3 shows the recovery process in a next step. The bracket 34 is moved toward the unmanned underwater vehicle 22 to reduce sway.

[0028] Fig. 4 shows the recovery process in a next step. The bracket 34 has been moved completely close to the unmanned underwater vehicle 22 to further reduce swaying and has pivoted the unmanned underwater vehicle 22 into the receptacle 41 for the underwater vehicle on the boom 26. To form the receptacle 41, it is sufficient if space is provided in a position on the boom into which the unmanned underwater vehicle can be pivoted. A support in the form of the block 42 is not absolutely necessary to form the receptacle 41.

[0029] Fig. 5 shows the unmanned underwater vehicle 22 in the receptacle 42, with the securing element 40 pivoted over the unmanned underwater vehicle 22. Furthermore, the fixing rod 36 has already been moved toward the unmanned underwater vehicle to secure it.

[0030] Fig.Figure 6 shows the device 20 in its transport position, i.e., in its folded state. The boom 26 has been folded upside down. Thus, the receptacle with the unmanned underwater vehicle 22 arranged therein points upward. During the folding of the boom, any movement of the unmanned underwater vehicle can be prevented by securing it multiple times, so that the boom can be folded safely. This also optimally secures the unmanned underwater vehicle in the transport position.

[0031] In addition to the described recovery of the unmanned underwater vehicle, the device 20 also enables the deployment of the underwater vehicle 22 into the water 30. In this case, the sequence of the positions of the device shown in the figures, ie the described method steps, takes place in reverse order.

[0032] Although some aspects have been described in connection with a device, it should be understood that these aspects also represent a description of the corresponding method, so that a block or component of a device can also be understood as a corresponding method step or as a feature of a method step. Analogously, aspects described in connection with or as a method step also represent a description of a corresponding block, detail, or feature of a corresponding device.

[0033] The above-described embodiments are merely illustrative of the principles of the present invention. It is understood that modifications and variations of the arrangements and details described herein will be apparent to others skilled in the art. Therefore, it is intended that the invention be limited only by the scope of the following claims and not by the specific details presented in the description and explanation of the embodiments herein. List of reference symbols: 20 Device 22 unmanned underwater vehicles 24 Platform 26 booms 28 cable winch 30 water 32 multi-stage anti-swing system 34 Arm 34' Joint of the bracket 36 Fixation rod 36' joint of the fixation rod 38 Positioning element 38' Joint of the positioning element 40 securing element 40' joint of the securing element 41 recording 42 Block

Claims

[1] Device (20) for launching and / or recovering an unmanned underwater vehicle from the water (30) onto a platform (24) having the following features: - a boom (26) designed to project beyond an edge of the platform (24); - a cable winch (28) attached to the boom (26) and designed to pull the unmanned underwater vehicle (22) substantially vertically out of the water (30); - a multi-stage anti-sway system (32) designed to reduce swaying of the unmanned underwater vehicle when the unmanned underwater vehicle (22) is completely suspended in the air on the cable winch (28); - wherein the boom (26) has a receptacle (41) for the unmanned underwater vehicle (22), - wherein a stage of the anti-pendulum system is designed to fix the unmanned underwater vehicle (22) in the receptacle (41). [2] Device (20) according to claim 1, wherein the boom (26) is designed to be folded in, so that the boom (26) is located predominantly, in particular completely, on the platform (24). [3] Device (20) according to claim 2, wherein the boom (26) is designed to be folded in such a way that the receptacle (41) for the underwater vehicle (22) points upwards and a rear side of the support opposite the receptacle (41) points towards the top of the platform (24). [4] Device (20) according to one of the preceding claims, wherein the boom (26) extends obliquely upwards from the platform (24) in a region in which the receptacle (41) for the unmanned underwater vehicle (22) is arranged. [5] Device (20) according to one of the preceding claims, wherein the multi-stage anti-sway system (32) comprises a bracket (34) which is designed to contact the unmanned underwater vehicle (22) at least in the end position at least at one point in order to prevent the unmanned underwater vehicle from swaying beyond this point. [6] Device (20) according to claim 5, wherein the bracket (34) is designed as an actuator. [7] Device (20) according to claim 6, wherein the bracket (34) is designed to pivot the unmanned underwater vehicle (22) from its end position into the receptacle (41) for the unmanned underwater vehicle (22). [8] Device (20) according to one of the preceding claims, wherein the multi-stage anti-sway system (32) comprises a fixing rod (36) which is designed to contact the unmanned underwater vehicle (22) at least in its final position at least at one point in order to prevent the unmanned underwater vehicle from swaying beyond this point. [9] Device (20) according to claim 8, wherein the fixing rod (36) is designed as an actuator. [10] Device (20) according to claim 9, wherein the fixing rod (36) is designed to fix the unmanned underwater vehicle (22) in the receptacle (41). [11] Device (20) according to one of the preceding claims, wherein the boom (26) has a positioning element (38) in the end position for the unmanned underwater vehicle (22), wherein the positioning element (38) and the unmanned underwater vehicle (22) have a mutually corresponding projection-cavity pair in an end region, so that the end region is restricted in its movement in the end position of the unmanned underwater vehicle. [12] Device (20) according to claim 11, wherein the mutually corresponding projection-cavity pair are designed such that the unmanned underwater vehicle can only assume a defined number of orientations in the final position. [13] Device (20) according to one of claims 11 or 12, wherein the positioning element is resiliently mounted. [14] Device (20) according to one of claims 11 to 13, wherein the mutually corresponding projection-cavity pair are designed such that the unmanned underwater vehicle can only assume a defined number of orientations in the final position. [15] Device (20) according to one of claims 11 to 14, wherein the positioning element (38) is rotatably connected to the boom (26) by means of a joint, so that a rotation of the positioning element in the direction of the receptacle (41) for the unmanned underwater vehicle (22) is possible. [16] Device (20) according to one of the preceding claims, wherein the device comprises a securing element (40) which is designed to mechanically secure the unmanned underwater vehicle (22) in the receptacle (41). [17] Device (20) according to one of the preceding claims, wherein the elements of the anti-sway system (32) are designed not to damage any attachments of the unmanned underwater vehicle. [18] Device (20) according to one of the preceding claims, wherein the device comprises an electromagnet configured to actuate a magnetic actuator in the unmanned underwater vehicle.

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