A system to support the towing of floating objects.

Abstract

This disclosure relates to a system and method for assisting in the towing of a floating object. The floating object includes a wireless communication system and at least one position sensor for measuring the position of the floating object in at least three degrees of freedom. A main towing vessel is connected to the floating object by a tow rope. The main towing vessel includes a winch, a DP system, and a two-way wireless communication system. The towing support system / module / controller may be integrated with the DP system. A support towing vessel is connected to the floating object by a tow rope. The support towing vessel is provided with a two-way wireless communication system. The towing support system / module / controller calculates setpoints (force, direction) for all towing vessels based on input parameters from the floating object, input parameters from each support towing vessel, and input parameters from the main towing vessel.

Claims

[Claim 1] A system for supporting the towing of floating objects, - A floating object comprising a wireless communication system and at least one position sensor for measuring the position of the floating object in at least three degrees of freedom, - A main towing vessel capable of connecting to the floating object by a towing rope, the main towing vessel including a winch, a DP system, a two-way wireless communication system, and a towing support system / controller, the towing support system being integrated with the DP system, and the main towing vessel, - At least one support towing vessel capable of connecting to the floating object by a towing rope, the support towing vessel including a two-way radio communication system, Includes, The towing support system is configured to calculate a setpoint for the DP system of the main towing vessel based on at least one first input parameter from the floating object, at least one second input parameter from at least one of the support towing vessels, and at least one third input parameter from the main towing vessel. system. [Claim 2] The towing support system is further configured to calculate a setpoint for the winch control system of the main towing vessel, according to claim 1. [Claim 3] The system according to claim 2, wherein the setpoint for the winch control system includes at least one of the tension of the tow rope and the length of the tow rope. [Claim 4] The system according to claim 1 or 2, wherein the calculation of the setpoint for the DP system further includes the calculation of the length of the tow rope. [Claim 5] The towing support system is configured to calculate setpoints for at least one support towing vessel, according to any one of claims 1 to 4. [Claim 6] The towing support system is configured to calculate a setpoint for at least one thruster or actuator on the floating object, according to any one of claims 1 to 4. [Claim 7] The system according to any one of claims 1 to 6, wherein at least one of the first input parameters from the floating object includes the motion of the floating object, which includes at least one of surge, sway, and yaw. [Claim 8] The system according to any one of claims 1 to 7, wherein at least one of the first input parameters from the floating object includes a force vector from any thruster or actuator on the floating object. [Claim 9] The system according to any one of claims 1 to 8, wherein at least one of the first input parameters from the floating object includes at least one motion of the floating object, which is heave, roll, and pitch. [Claim 10] The system according to any one of claims 1 to 9, wherein at least one of the first input parameters from the floating object includes the velocity and acceleration of the floating object in six degrees of freedom. [Claim 11] The system according to any one of claims 1 to 10, wherein at least one of the second input parameters from at least one of the support towing vessels includes the thruster thrust of at least one of the support towing vessels and the direction of at least one of the support towing vessels. [Claim 12] The system according to any one of claims 1 to 11, wherein at least one of the second input parameters from at least one of the support towing vessels includes the position of at least one of the support towing vessels in at least three degrees of freedom. [Claim 13] At least one of the second input parameters from at least one of the support towing vessels is: - The motion of the support towing vessel, including at least one of heave, sway, surge, roll, pitch, and yaw. - The tension of the tow rope between the support towing vessel and the floating object, and - The length of the tow rope between the support towing vessel and the floating object. The system according to any one of claims 1 to 12, comprising at least one of the following. [Claim 14] The system according to any one of claims 1 to 13, wherein at least one of the third input parameters from the main towing vessel includes the thruster thrust of the main towing vessel's thrusters and the direction of the main towing vessel. [Claim 15] The system according to any one of claims 1 to 14, wherein at least one of the third input parameters from the main towing vessel includes the position of the main towing vessel in at least three degrees of freedom. [Claim 16] At least one of the third input parameters from the main towing vessel is, - The motion of the main tow vessel, including at least one of heave, sway, surge, roll, pitch, and yaw. - The tension of the tow rope between the main towing vessel and the floating object, - The catenary of the tow rope between the main towing vessel and the floating object, - The length of the tow rope between the main towing vessel and the floating object, and - Output from the winch control system of the main towing vessel The system according to any one of claims 1 to 15, comprising at least one of the following. [Claim 17] The system according to any one of claims 1 to 16, wherein the support towing vessel further comprises a DP system. [Claim 18] The system according to any one of claims 1 to 17, wherein the support towing vessel further includes a winch having a winch control system. [Claim 19] The system according to any one of claims 1 to 18, wherein the floating object further comprises at least one of a sanitation navigation system, an inertial measuring device, and an inertial navigation device. [Claim 20] The system according to any one of claims 1 to 19, wherein the inertial measuring device is at least one of MRU (motion reference unit) and MGC (motion gyrocompass). [Claim 21] The floating object is the system according to any one of claims 1 to 20, comprising a differential GPS, a motion sensor, and a gyrocompass. [Claim 22] A towing support system for assisting in the towing of floating objects, - An interface for integrating the towing support system with the DP system, wherein the towing support system can receive at least one input parameter from the DP system and at least one input parameter from the winch control system. - An interface for receiving at least one first input parameter from the floating object, Includes, - Adapted to calculate setpoints for the main towing vessel and at least one support towing vessel based on at least one first input parameter from the floating object, at least one second input parameter from the winch control system on at least one support towing vessel, and at least one third input parameter from the DP system and the winch control system on the main towing vessel. Towing support system. [Claim 23] The towing support system according to claim 22, further configured to calculate a setpoint for the winch control system of the main towing vessel. [Claim 24] The towing support system according to claim 22 or 23, wherein the setpoint for the winch control system includes at least one of the tension of the tow rope and the length of the tow rope. [Claim 25] The towing support system according to any one of claims 22 to 24, wherein the setpoint for the main towing vessel includes the thruster thrust of at least one thruster of the main towing vessel and the bearing of the main towing vessel. [Claim 26] A towing support system according to any one of claims 22 to 25, wherein the setpoint for at least one of the support towing vessels includes the thruster thrust of at least one thruster of at least one of the support towing vessels and the direction of at least one of the support towing vessels. [Claim 27] The towing support system according to any one of claims 22 to 26, wherein the calculated setpoint for the DP system further includes the length of the tow rope. [Claim 28] The towing support system according to any one of claims 22 to 27, wherein the calculated setpoint for the DP system further includes the force vector of any thruster or actuator attached to the floating object. [Claim 29] The towing support system according to any one of claims 22 to 28, wherein at least one of the first input parameters from the floating object includes the position of the floating object in at least three degrees of freedom. [Claim 30] The towing support system according to any one of claims 22 to 29, wherein at least one of the first input parameters from the floating object includes the motion of the floating object, which includes at least one of sway, surge, and yaw. [Claim 31] The towing support system according to any one of claims 22 to 30, wherein at least one of the first input parameters from the floating object includes the velocity and acceleration of the floating object in six degrees of freedom. [Claim 32] The towing assistance system according to any one of claims 22 to 28, wherein at least one of the first input parameters from the floating object includes the motion of the floating object, which includes at least one of roll, pitch, and heave. [Claim 33] The towing support system according to any one of claims 22 to 32, wherein at least one of the second input parameters from at least one of the support towing vessels includes the thruster thrust of at least one of the support towing vessels and the direction of at least one of the support towing vessels. [Claim 34] The towing support system according to any one of claims 22 to 33, wherein at least one of the second input parameters from the support towing vessel includes the position of the support towing vessel in at least three degrees of freedom. [Claim 35] A towing assistance system according to any one of claims 22 to 34, wherein at least one of the second input parameters from at least one of the support towing vessels includes the motion of the support towing vessel, which includes at least one of heave, sway, surge, roll, pitch, and heave. [Claim 36] At least one of the second input parameters from at least one of the support towing vessels is: - The tension of the tow rope between the support towing vessel and the floating object, and - The length of the tow rope between the support towing vessel and the floating object, A towing support system according to any one of claims 22 to 35, comprising at least one of the above. [Claim 37] The towing support system according to any one of claims 22 to 36, wherein at least one of the third input parameters from the main towing vessel includes the thruster thrust of the main towing vessel's thrusters and the direction of the main towing vessel. [Claim 38] The towing support system according to any one of claims 22 to 37, wherein at least one of the third input parameters from the main towing vessel includes the position of at least one of the support towing vessels in at least three degrees of freedom. [Claim 39] The towing support system according to any one of claims 22 to 38, wherein at least one of the third input parameters from the main towing vessel includes the motion of the main towing vessel, which includes at least one of sway, surge, and yaw. [Claim 40] At least one of the third input parameters from the main towing vessel is, - The motion of the main tow vessel, including at least one of heave, sway, surge, roll, pitch, and yaw. - The tension of the tow rope between the main towing vessel and the floating object, - The catenary of the tow rope between the main towing vessel and the floating object, - The length of the tow rope between the main towing vessel and the floating object, and - Output from the winch control system of the main towing vessel, A towing support system according to any one of claims 22 to 39, comprising at least one of the above. [Claim 41] A main tow vessel for assisting in the towing of a floating object, wherein the main tow vessel is connectable to the floating object by a tow rope, • At least one thruster, • Winch and DP system, ・ Two-way wireless communication system and - A towing support system / controller integrated with the aforementioned DP system, Includes, The towing support system is adapted to calculate setpoints for the main towing vessel and at least one support towing vessel based on at least one input parameter for supporting the towing operation of the floating object. Main tugboat. [Claim 42] The towing support system is further adapted to calculate setpoints for the winch control system of the main towing vessel, according to claim 41. [Claim 43] The main towing vessel according to claim 41 or 42, wherein the calculation of the setpoint for the DP system further includes the calculation of the length of the tow rope. [Claim 44] The main towing vessel according to any one of claims 41 to 43, wherein at least one of the input parameters includes at least one first input parameter from the floating object, at least one second input parameter from at least one of the support towing vessels, and at least one third input parameter from the main towing vessel. [Claim 45] At least one of the first input parameters from the floating object is, - The motion of the floating object, including at least one of heave, sway, surge, roll, pitch, and yaw, and - Velocity and acceleration of the floating object in six degrees of freedom A main towing vessel according to any one of claims 41 to 44, comprising at least one of the above. [Claim 46] The main towing vessel according to any one of claims 41 to 45, wherein the towing support system is integrated with the DP system and the winch control system. [Claim 47] The main tow vessel according to any one of claims 41 to 46, wherein the calculation of the set point further includes calculating the thruster thrust of at least one thruster of the main tow vessel and calculating the direction of the main tow vessel. [Claim 48] At least one of the first input parameters from the floating object is, - The position of the floating object in at least three degrees of freedom, - The motion of the floating object, including at least one of heave, sway, surge, roll, pitch, and yaw, and - Velocity and acceleration of the floating object in six degrees of freedom A main towing vessel according to any one of claims 41 to 47, comprising at least one of the above. [Claim 49] At least one of the second input parameters from at least one of the support towing vessels is: - Thruster thrust and heading of at least one of the support tugboats, Preferably, the position of at least one of the support tugboats in at least three degrees of freedom, - The motion of at least one of the support towing vessels, including at least one of heave, sway, surge, roll, pitch, and yaw. - The tension of the tow rope between the support towing vessel and the floating object, - The length of the tow rope between the support towing vessel and the floating object, - The catenary of the tow rope between the support towing vessel and the floating object, and - Output from the DP system of the support towing vessel A main towing vessel according to any one of claims 41 to 48, comprising at least one of the above. [Claim 50] The main tow vessel according to any one of claims 41 to 49, wherein at least one of the third input parameters from the main tow vessel includes the thruster thrust of the main tow vessel's thrusters and the direction / bearing of the main tow vessel. [Claim 51] The main tow vessel according to any one of claims 41 to 50, wherein at least one of the third input parameters from the main tow vessel includes the position of the main tow vessel in at least three degrees of freedom. [Claim 52] At least one of the third input parameters from the main towing vessel is, - The motion of the main tow vessel, including at least one of heave, sway, surge, roll, pitch, and yaw. - The tension of the tow rope between the main towing vessel and the floating object, - The catenary of the tow rope between the main towing vessel and the floating object, - The length of the tow rope between the main towing vessel and the floating object, and - Output from the winch control system of the main towing vessel A main towing vessel according to any one of claims 41 to 51, comprising at least one of the above. [Claim 53] A method for supporting the towing operation of floating objects, - A step of towing the floating object by a main towing vessel and at least one support towing vessel, wherein the main towing vessel and at least one support towing vessel are connected to the floating object by a tow rope, and the main towing vessel is provided with a towing support system, - A step of receiving at least one first input parameter from at least one sensor on the floating object, wherein at least one of the sensors includes a position sensor for measuring the position of the floating object in at least three degrees of freedom. Includes, The towing support system is adapted to calculate setpoints for the main towing vessel and at least one of the support towing vessels based on at least one first input parameter from the floating object, at least one second input parameter from at least one of the support towing vessels, and at least one third input parameter from the main towing vessel. method. [Claim 54] The method according to claim 53, further comprising the step of calculating a set point for the winch control system of the main towing vessel, wherein the set point for the winch control system includes at least one of the tension of the tow rope and the length of the tow rope. [Claim 55] The method according to claim 53, further comprising the step of calculating a set point for the DP system of the main towing vessel, wherein the set point includes the length of the tow rope between the main towing vessel and the floating object.

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