Device for reducing swaying movements

Abstract

The invention relates to a device (20) for reducing swaying movements of a towing means (32) when hauling an unmanned underwater vehicle (34) onto a platform (36) and / or when recovering the unmanned underwater vehicle (34) by means of a crane (38). The device has a boom (22) which is designed to be installed on the platform, and a fork (24) is connected to the boom (22). The device (20) is designed to surround the towing means from at least three sides between a first contact point where the towing means contacts the crane (38) and the unmanned underwater vehicle (34) contacts the fork (24).

Description

[0001] Device for reducing pendulum movements

[0002] Description

[0003] The invention relates to a device for reducing pendulum movements of a traction device when retrieving an unmanned underwater vehicle by means of a crane onto a platform or deploying the unmanned underwater vehicle by means of the crane.

[0004] The recovery of underwater vehicles using a crane poses a danger to bystanders, particularly due to the pendulum movements of the underwater vehicle.

[0005] The object of the present invention is therefore to create an improved concept for the retrieval and / or deployment of underwater vehicles.

[0006] This problem is solved by the subject matter of the independent patent claims. Further advantageous embodiments are the subject matter of the dependent patent claims.

[0007] Embodiments show a device for reducing pendulum movements of a traction device when pulling an unmanned underwater vehicle onto a platform and / or deploying the unmanned underwater vehicle. In particular, the traction device can be part of a crane. A crane is a device that can pull the unmanned underwater vehicle vertically out of the water or lower it into the water using the traction device, e.g., a rope or a belt. Unmanned underwater vehicles can have their own propulsion. Examples of unmanned

[0008] Underwater vehicles with propulsion are ROVs (remotely operated vehicles) or AUVs (autonomous underwater vehicles). The propulsion is designed to generate propulsion for the underwater vehicle. Other unmanned underwater vehicles lack their own propulsion. Such underwater vehicles can be referred to as towed bodies. A towed body is pulled behind a watercraft, particularly a ship, using a traction device. The traction device for pulling the towed body can be identical to the traction device for retrieving or deploying the underwater vehicle.

[0009] The device comprises a boom and a fork connected to the boom. The boom can be mounted on the platform or is at least suitable for mounting on the platform. In principle, any surface in the water, on the water or by the water that can bear the weight of the underwater vehicle and the crane is suitable as a platform. A surface vehicle, such as a ship, is particularly suitable as a platform. However, an oil rig or the base of an offshore wind turbine is also suitable as a platform. Furthermore, it is possible to design the platform to be mobile, for example in the form of a (preferably standard) (sea) container. The device is then designed to guide the fork in such a way that the traction means is enclosed by the fork from at least three sides, in particular four sides, between a first contact point of the traction means with the crane and the unmanned underwater vehicle.A fork is specifically defined as a device that has at least two extensions with a hollow space between them. The hollow space should be selected to be large enough to accommodate the traction device between the extensions.

[0010] The idea is to use the device to reduce the pendulum length of the traction device. The fork acting on the traction device stabilizes the area between the fork and the first point of contact of the traction device with the crane, so that the traction device can only oscillate in this area within the frame delimited by the fork. In particular, the traction device can oscillate in the hollow space between the extensions. However, the deflection is then significantly smaller than if the traction device could oscillate freely. The fork thus forms a new center of rotation for the oscillating traction device. This reduces the deflection and the pendulum duration. It is particularly advantageous if the fork encloses the traction device in a lower half, in particular a lower third, between the first point of contact of the traction device with the crane and the water surface when the unmanned underwater vehicle is being retrieved.Thus, the remaining pendulum length is reduced by at least half of the original pendulum length.

[0011] The boom is preferably connected to the platform in such a way that the boom can perform a rotational movement relative to the platform. For example, the boom is connected to the platform by means of a driven axis in such a way that the drive of the axis causes the boom to perform a rotational movement. The rotational movement usually occurs around an axis which lies essentially in a plane parallel to the water surface. For example, waves can cause the axis to tilt slightly relative to the water surface. Furthermore, the boom preferably has the absence of the possibility of a translational movement essentially perpendicular to the water surface. This means that the boom is not, for example, mounted on a carriage or the like which can move essentially perpendicular to the water surface, similar to the principle of an elevator.Nevertheless, it is possible to move the fork perpendicular to the water surface by rotating the boom, and the resulting circular path on which the fork moves is compensated by a translational movement of the fork relative to the boom. This described arrangement of the boom, rotating relative to the platform, is advantageous over a translational movement of the fork relative to the platform, as the drive is significantly easier to implement and requires less space, which is generally always limited on watercraft.

[0012] For example, the fork can have a closure designed to close the fork on a fourth side once the fork has enclosed the traction means. The closure can occur automatically, in particular mechanically, when the traction means penetrates the fork. An example of such a closure is a snap hook. Furthermore, it is also possible to close the fork electrically. For example, the closure is then carried out using a motor. This means that the traction means is also fixed in the fourth direction, so that the traction means can no longer leave the fork. The same result can also be achieved using a second fork that encloses the traction means from a different side than the first fork. One such embodiment is described below.Preferably, the device is designed to grip the traction device with the fork when retrieving the unmanned underwater vehicle while the unmanned underwater vehicle is at least partially submerged in the water. This is advantageous because the traction device does not yet oscillate. The oscillation only begins once the underwater vehicle has left the water.

[0013] In exemplary embodiments, the boom has an arm that is arranged at an angle on a first side of the boom, or wherein the arm is designed to be angled from the boom on the first side. For the purpose of angling, a joint is arranged between the boom and the arm, for example. The fork is arranged on the second side of the arm. The device is designed to guide the fork laterally around the traction means. This makes it possible to move the fork in one dimension. This facilitates enclosing the traction means.

[0014] In further embodiments, the boom is designed to extend from a first position to a second position, in particular axially. Preferably, the boom is designed to extend from a first position completely within a vertical projection of the platform to a second position partially outside a vertical projection of the platform. For example, the boom is designed as a telescopic arm. This makes it possible to move the fork in one dimension. This facilitates enclosing the traction device.

[0015] Further embodiments show that the arm is designed to extend from a first position to a second position, in particular axially. Preferably, the arm is designed to extend from a first position completely within a vertical projection of the platform to a second position partially outside a vertical projection of the platform. For example, the arm is designed as a telescopic arm. This makes it possible to move the fork in one dimension. This facilitates enclosing the traction device.

[0016] In further embodiments, the fork is designed to rotate on the arm. This makes it possible to move the fork in one dimension. This facilitates enclosing the traction device. The previously described embodiments allow the fork to move in different dimensions. A combination of the embodiments further simplifies enclosing the traction device, as the fork is given a greater number of degrees of freedom.

[0017] In exemplary embodiments, the fork has a sensor to detect that the traction device is enclosed. This can be a proximity sensor, e.g., a capacitive proximity sensor. Typically, however, the traction device carries current, or a power cable runs parallel to the traction device to supply the unmanned underwater vehicle with energy. In this case, it can be advantageous to use a Hall sensor as a sensor to detect that the traction device is enclosed. This sensor detects the traction device when current is flowing through it, or the Hall sensor detects a cable running parallel to the traction device. This makes it possible to automatically determine when the fork is in the correct position.

[0018] Further embodiments show the device with a further boom. The further boom is designed to be mounted on the platform. A further fork is connected to the further boom. The device is further designed to enclose the traction means between a first contact point of the traction means with the crane and the unmanned underwater vehicle with the further fork from at least three sides. The device is designed to enclose the traction means by means of the fork and the further fork from different sides. In particular, both forks have an angle of at least 90° to one another. Thus, even with a fork open on one side, the traction means is largely enclosed, and with an angle of at least 90°, even completely enclosed.

[0019] It is possible for the additional boom to have a (further) arm that is arranged at an angle on a first side of the additional boom, or wherein the arm is designed to be angled from the additional boom on the first side. The additional fork is arranged on the second side of the arm of the additional boom in order to... The device is designed to guide the additional fork laterally around the traction means in order to guide the fork of the boom and the fork of the additional boom around the traction means from different sides.

[0020] It should be noted that the additional boom, the arm of the additional boom, and the additional fork can have the same features as the boom, the arm of the boom, or the additional fork, respectively. Thus, the description of the boom, the arm of the boom, and the fork can be applied analogously to the additional boom, the arm of the additional boom, and the additional fork.

[0021] Furthermore, a method for reducing pendulum movements of a traction device when retrieving an unmanned underwater vehicle onto a platform and / or deploying the unmanned underwater vehicle, in each case by means of a crane, is disclosed. For this purpose, a device is used comprising a boom mounted on the platform and a fork connected to the boom. In particular, the device described above is used. The method comprises enclosing the traction device with the fork from at least three sides between a first contact point of the traction device with the crane and the unmanned underwater vehicle.

[0022] The device may further comprise the crane and / or the unmanned underwater vehicle and / or the traction means and / or the platform.

[0023] Preferred embodiments of the present invention are explained below with reference to the accompanying drawings. They show:

[0024] Fig. 1: a schematic perspective view of a device for reducing pendulum movements of a traction means when retrieving an unmanned underwater vehicle onto a platform by means of a crane and / or when deploying the unmanned underwater vehicle by means of a crane, wherein Fig. 1a and Fig. 1b disclose different embodiments;

[0025] Fig. 2: a schematic overview of the device during retrieval of the unmanned underwater vehicle; Fig. 3: a schematic detailed view of two forks enclosing a traction device of the underwater vehicle.

[0026] 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 equivalent 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.

[0027] Fig. 1 discloses a device 20 for reducing the pendulum movements of a traction device when hoisting an unmanned underwater vehicle onto a platform and / or deploying the unmanned underwater vehicle using a crane. The device 20 comprises a boom 22 and a fork 24. The fork 24 is connected to the boom, at least mechanically, optionally electrically. The fork 24 can enclose the traction device on at least three sides.

[0028] The embodiment in Fig. 1a allows the traction device to be enclosed frontally. Furthermore, an optional closure 26 is disclosed for closing the fork 24 from the fourth side as well. Furthermore, various degrees of freedom of the various elements of the device are disclosed by means of movement arrows. Thus, the boom 22 can optionally be extended (see movement arrow 28a). The fork 24 can optionally be rotated (see movement arrow 28b). The closure 26 can be opened and closed (see movement arrow 28c).

[0029] The embodiment in Fig. 1b shows the device 20 with an arm 30 that can be angled away from the boom 22 (see movement arrow 28d). This makes it possible to also enclose the traction device from the side. The closure is not shown here, but it is also optionally possible to provide it as in Fig. 1a. The fork 24 is now arranged on the arm 30. Optionally, the fork 24 is extendable (see movement arrow 28e). Furthermore, the fork 24 can optionally be rotated (see movement arrow 28f).

[0030] Fig. 2 shows a schematic overview of the device 20 for reducing pendulum movements of a traction means 32 when retrieving an unmanned underwater vehicle 34 onto a platform 36 and / or deploying the unmanned underwater vehicle 34 by means of a crane 38 when retrieving the unmanned underwater vehicle 34 from the water 40.

[0031] The device 20 from Fig. 1 b is shown as an example in the overview view from Fig. 2. The device 20 comprises two booms 22, 22'. The corresponding arms are hidden in this view because they are angled so that they point vertically into or out of the image plane. However, part of the forks 24, 24' is visible. The booms 22, 22', together with the crane 38, are shown as an example in a container 26 as a platform. The container 26 is in turn arranged on a ship 26' as a further platform. It is also possible to attach the crane 38 with the booms directly to the ship. The crane 38 has, for example, a rail system with which a boom of the crane 38 can be extended out of the container 26 in order to be able to pull the unmanned underwater vehicle 34 out of the water 40.

[0032] Fig. 3 shows a schematic detailed representation of two forks 24, 24' that enclose the traction device 32 of the underwater vehicle. The forks 24, 24' enclose the traction device 32 at different heights, for example. This simplifies enclosing the traction device, since both forks only need to hit the traction device at a time, and the relative position of the two forks is irrelevant.

[0033] Although some aspects have been described in connection with a device, it is 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. Similarly, 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.

[0034] 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.

[0035] List of reference symbols:

[0036] 20 Device

[0037] 22 boom 24 fork

[0038] 26 Closure

[0039] 28 movement arrows

[0040] 30 arms

[0041] 32 traction device 34 unmanned underwater vehicle

[0042] 36 Platform

[0043] 38 crane

[0044] 40 water

Claims

Patent claims 1. Device (20) for reducing pendulum movements of a traction means (32) when retrieving an unmanned underwater vehicle (34) onto a platform (36) and / or deploying the unmanned underwater vehicle (34) by means of a crane (38), having the following features: - a boom (22) adapted to be mounted on the platform; - a fork (24) connected to the boom (22); - wherein the device (20) is designed to enclose the traction means between a first contact point of the traction means with the crane (38) and the unmanned underwater vehicle (34) with the fork (24) from at least three sides.

2. Device (20) according to claim 1, - wherein the boom (22) has an arm (30) which is arranged on the boom (22) at an angle on a first side or wherein the arm (30) is designed to be angled on the first side of the boom (22); - wherein the fork (24) is arranged on the second side of the arm; - wherein the device is designed to guide the fork (24) laterally around the traction means.

3. Device (20) according to claim 2, - wherein the arm (30) is designed to extend from a first position to a second position.

4. Device (20) according to one of claims 2 or 3, - wherein the fork (24) is designed to rotate on the arm (30).

5. Device (20) according to one of the preceding claims, - wherein the boom (22) is designed to extend from a first position to a second position.

6. Device (20) according to one of the preceding claims, - wherein the fork (24) has a sensor, in particular a Hall sensor, which is designed to detect the traction means, when current is flowing through it, or a cable running parallel to it, in order to recognize that the traction means is enclosed.

7. Device (20) according to one of the preceding claims, - wherein the fork (24) has a closure (26) which is designed to close the fork (24) on a fourth side when the fork (24) has enclosed the traction means.

8. Device (20) according to one of the preceding claims, - wherein the fork (24) is designed to enclose the traction means when retrieving the unmanned underwater vehicle in a lower half, in particular a lower third, between a first contact point of the traction means with the crane (38) and the water surface.

9. Device (20) according to one of the preceding claims, - wherein the device is designed to encompass the traction means with the fork (24) when retrieving the unmanned underwater vehicle while the unmanned underwater vehicle (34) is at least partially in the water (40).

10. Device (20) according to one of the preceding claims, comprising: - a further boom (22') adapted to be mounted on the platform; - a further fork (24') connected to the further boom (22'); - wherein the device is designed to enclose the traction means between a first contact point of the traction means with the crane (38) and the unmanned underwater vehicle (34) with the further fork (24') from at least three sides; - wherein the device is designed to enclose the traction means from different sides by means of the fork (24) and the further fork (24').

11. Device (20) according to claim 10, - wherein the further boom (22') has an arm (30') which is arranged on the further boom (22') at an angle on a first side or wherein the arm (30') is designed to be angled on the first side from the further boom (22'); - wherein the further fork (24') is arranged on the second side of the arm; - wherein the device is designed to guide the further fork (24) laterally around the traction means, wherein the fork (24) of the boom and the further fork (24') of the further boom enclose the traction means from different sides.

12. Device (20) according to one of the preceding claims, comprising the crane.

13. Device (20) according to one of the preceding claims, comprising the unmanned underwater vehicle and / or the traction means.

14. Device (20) according to one of the preceding claims, comprising the platform.

15. Device (20) according to one of the preceding claims, wherein the boom is connected to the platform in such a way that the boom performs a rotational movement relative to the platform.

16. Device (20) according to one of the preceding claims, wherein the boom has the absence of the possibility of translational movement substantially perpendicular to the water surface.

17. A method for reducing pendulum movements of a traction means (32) when retrieving an unmanned underwater vehicle (34) onto a platform (36) and / or deploying the unmanned underwater vehicle (34) by means of a crane (38), with a device comprising a boom (22) mounted on the platform and a fork (24) connected to the boom (22), with the following steps: - Enclosing the traction means (32) between a first contact point of the traction means with the crane (38) and the unmanned underwater vehicle (34) with the fork (24) from at least three sides.

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