Extending launch and recovery system for uncrewed surface vessel

Abstract

The present disclosure generally relates to an uncrewed surface vessel (USV) for performing remote offshore projects, the USV comprising at least one launch and recovery system, arranged to deploy a payload from the deck into the water The present disclosure further relates to a method of deploying a payload from an uncrewed surface vessel. Unlocking insights from geodata, the present invention further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.

Description

EXTENDING LAUNCH AND RECOVERY SYSTEM FOR UNCREWED SURFACE VESSELFIELD OF THE INVENTION

[0001] The present disclosure generally relates to an uncrewed surface vessel (USV) for performing remote offshore projects, the USV comprising at least one launch and recovery system, arranged to deploy a payload from the deck into the water. The present disclosure further relates to a method of deploying a payload from an uncrewed surface vessel. Unlocking insights from geodata, the present invention further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.BACKGROUND OF THE INVENTION

[0002] There is a general and ongoing need to improve the quality and efficiency of the launch and recovery of mission payloads. Launch and recovery of mission payloads is one of the riskiest operations to be performed from a floating vessel on surface water The deployment of payloads during operations offshore is prone to accidents due to the relative motion of the payload to the vessel when the payload is above the vessel, and the moving parts of the launch and recovery system. Further, a critical period of deployment is when the payload is in the splash zone, i.e., the air-water interface. When in the splash zone, a launch and recovery system can experience highly increased slamming forces, causing sudden movements and associated dangerous situations. On crewed vessels and uncrewed vessels, there is a need to reduce the manual handling of payloads to improve safety, but also increase efficiency and speed of deployment.

[0003] Attempts to address these issues, launch and recovery systems have been produced, which can take over some of the actions otherwise done through manual intervention. These systems often still require the attachment of the payload to the launch and recovery system and only take over actions taken by the operators in part. As a result, there are still personnel on deck during the launch and recovery of payloads, which introduces hazards to the personnel and the material of the payload and the vessel.

[0004] In an attempt to circumvent such hazards altogether, and to reduce energy consumption and emissions, uncrewed surface vessels (USV) have been introduced. Thesevessels are operated from a remote operation centre, either on shore or on a support vessel. USVs have no personnel onboard and, can be manufactured in a more compact way, also reducing the carbon footprint of the operations they execute. As a result, any payload which is deployed from the USV must be handled autonomously or remotely controlled without manual intervention. The step from reduced manual intervention on crewed vessels to completely remote operations on USVs leads to various difficulties. For example, manual intervention in coupling the payload to the launch and recovery system is no longer possible, and the operation needs to be executed remotely, relying on sensor data with limited or no visual feedback to a remote operating centre.

[0005] In addition, since the USVs are generally much smaller in relation to their payload than conventional crewed vessels, the available deck space is considerably reduced. As a result, even though launch and recovery systems for USVs have been produced, they lack operational flexibility and can only deploy a single type of payload. In addition, known launch and recovery systems may interfere with vessel stability and may disrupt the communication link with the remote operating centre A disrupted communication link with an uncrewed vessel may lead to severely dangerous situations.

[0006] The known state of the art for launch and recovery systems, in particular on uncrewed surface vessels, thus lacks a solution for safely and efficiently operating launching and recovering payloads, specifically lacking operational flexibility and modularity. There is a need for launch and recovery systems that meet the requirements of a multitude of different remote operations, in which payloads are safely deployed and recovered in various configurations. There is thus a need for an improved device and method for the deployment and recovery of payloads from uncrewed surface vessels.BRIEF SUMMARY OF THE INVENTION

[0007] According to one aspect of the present disclosure, there is provided an uncrewed surface vessel (USV) for performing remote offshore projects, the USV comprising; a hull arranged to be partly submerged in water; a deck; a propulsion device arranged to move the uncrewed surface vessel through water; an extending launch and recovery unit, arranged to deploy a payload of the USV into the water, the extending launch and recovery unit being attached to a horizontal translation mechanism, arranged to move the extending launch and recovery unit in a horizontal direction from a resting position to a deployment position.

[0008] Advantageously, the invention of the present disclosure provides an extending launch and recovery unit which is able to deliver a payload to the water from any side of the USV, while limiting the risks of loss of communications, while limiting the total weight of the launch and recovery unit, thus limiting problems associated with stability of the USV. Advantageously, the provision of an extending launch and recovery unit having a horizontal translation mechanism limits the vertical reach, such that vessel balance is less affected and such that the line of sight between a communication unit and a satellite is not affected. This limits the risk of losing communications with the USV. The disadvantages of having a large A-frame installed on the stern of the vessel, are thus reduced.

[0009] The term ‘ offshore’ hereinafter is understood to encompass any operations executed on a body of water, i.e., not on shore. The body of water may include sea, lakes, rivers, or the like, including but not limited to open sea, or nearshore operations.

[0010] In an implementation of the disclosure, the extending launch and recovery unit comprises a winch. Advantageously, the winch is provided in a housing. The winch may be coupled statically to the deck of the USV, such that the horizontal translation mechanism is arranged to move the payload horizontally, in relation to the winch. In an alternative implementation, the extending launch and recovery unit, including the winch and the housing, are connected to the horizontal translation mechanism, such that the winch and housing may be moved horizontally. In an alternative implementation, the winch is coupled statically to the deck of the USV, such that the horizontal translation mechanism only moves the payload, not the winch.

[0011] The mechanism of the winch to extend and retract the cable, may be actively controlled to maintain a constant tension on the cable. This may compensate for heave motion such that the payload may be maintained on a fixed water depth. The centre launch and recovery unit may further comprise a cable cutter. The cable cutter may be integrated in the winch. The cable cutter may be integrated within the coupling mechanism. The cable cutter may be coupled to the lifting boom, such that the cable can be cut between the winch and the coupling mechanism. Advantageously, this reduced the risks associated with snagging of the payload. When the payload snags, for example on the seafloor, the cable may be cut, such that the integrity of the USV is not affected by the snagging of the payload.

[0012] The extending launch and recovery unit may be positioned on a rear region of the USV, such that it can deploy a payload from the stem of the USV into the water.

[0013] The extending launch and recovery unit may comprise a deployment beam comprising a proximal end and a payload end, the deployment beam being coupled to thehorizontal translation mechanism. The deployment beam may be coupled to a support structure, the support structure being coupled to the horizontal translation mechanism. The deployment beam may be pivotably coupled to a support structure at the proximal end, such that movement of the deployment beam around the proximal end causes substantially vertical movement of the payload.

[0014] In an implementation, the deployment beam is further coupled to the support structure by a centre actuator, defining an angle with the deployment beam, the centre actuator being arranged to rotate the deployment beam around the proximal end. Because an angle is defined between the centre actuator and the deployment beam, the extension or retraction of the centre actuator leads to rotation of the deployment beam around the proximal end. This causes the payload end to move in a substantially vertical direction. After the horizontal translation mechanism has moved the extending launch and recovery unit to the deployment position, the centre actuator may be retracted, such that the payload end of the deployment beam lowers towards and into the water.

[0015] This pivot mechanism makes it feasible to launch and recover the payload under the waterline, removing the risk of deployment and recovery through the splash zone. The pivoting beam length is designed to create sufficient clearance from the USV's stern to prevent the sensor from being washed against or under the USV's stem in a high-heave scenario. From the end of the pivoting beam, an interchangeable coupling mechanism suitable for a range of geophysical towed sensors is feasible for underwater launch and recovery of said payload. The interchangeable coupling mechanism is designed to handle the towed sensor's non-perfect alignment as it enters the coupling mechanism.

[0016] In an alternative implementation, the extending launch and recovery unit comprises an A-frame. The A-frame may be provided on a support structure, the support stmcture being coupled to the horizontal translation mechanism. In an implementation, the supporting structure is a platform. The A-frame may comprise a rectangular frame and at least one stmt, the at least one stmt extending between the rectangular frame and the support stmcture. The at least one stmt fixes the position of the rectangular frame in relation to the deck of the USV. In particular, the stmt may be static such that the rectangular frame is provided in a static position, not having the ability to move inward and outward in relation to the supporting stmcture.

[0017] Alternatively, the at least one stmt may be an actuator stmt. By providing an actuator, the rectangular frame of the A-frame can move inward an outward, such that the payload may be extended or retracted in relation to the deck.

[0018] Advantageously, by providing the A-frame to an extending launch and recovery unit comprising a horizontal translation mechanism, the A-frame does not need to be tall and / or heavy to reach sufficiently far behind the USV for safe deployment of the payload.

[0019] The supporting structure is movably coupled to the deck of the USV. In an implementation, the supporting structure is provided on one or a set of deck rails. The supporting structure may be a moving platform. The supporting structure is coupled to the horizontal translation mechanism, such that the extending launch and recovery unit as a whole can be moved in a horizontal direction.

[0020] In an advantageous implementation, the extending launch and recovery unit comprises a pulley drive, which extends in a longitudinal direction outward from the aft of the USV. Alternatively, the extending launch and recovery unit comprises a rack and pinion drive. Advantageously, the extending launch and recovery unit further comprises a winch, attached to a tether, which runs over the pulley, and is arranged to engage with a payload. Such a payload may be for example a moving velocity profiler. In an implementation, the pulley may be provided on the deployment beam. The deployment beam may be driven by an electric or hydraulic actuator. The extending launch and recovery unit may further be provided on a rail system such that it can move longitudinally outward from the aft of the vessel such that the payload can be deployed overboard without requiring a large A-frame structure on the vessel. In an alternative, or additional, implementation, the extending launch and recovery unit comprises an A-frame.

[0021] In an implementation, the USV further comprises at least one launch and recovery system, arranged to deploy a payload from the deck into the water, wherein the launch and recovery system comprises a lifting boom having a base and a distal end, wherein the base of the lifting boom is pivotably coupled to the deck of the USV, such that the distal end of the lifting boom can define a horizontal movement in relation to the deck, and wherein the distal end comprises a coupling mechanism arranged to couple to a payload. In such an implementation, the USV comprises an extending launch and recovery unit, and a launch and recovery system.

[0022] This launch and recovery system may be any launch and recovery system disclosed hereinafter. These implementations may be combined. According to one aspect of the present disclosure, there is provided an uncrewed surface vessel (USV) for performing remote offshore projects. The USV comprises a hull arranged to be partly submerged in water, a deck, a propulsion device arranged to move the USV through water, and at least one launch and recovery system, arranged to deploy a payload from the deck into the water. The launch andrecovery system comprises a lifting boom having a base and a distal end. The base of the lifting boom is pivotably coupled to the deck of the USV. As such, the distal end of the lifting boom can define a horizontal movement in relation to the deck. The distal end comprises a coupling mechanism arranged to couple to a payload.

[0023] Furthermore, as the deployment location can be variably altered, various different payloads can be deployed, such as side scan sonar, magnetometry and / or velocity profilers.

[0024] The term deck in the present disclosure is defined as any upward facing surface of the USV. The deck can either be defined by a separate part or by the hull itself, which extends around such that it defines an upward facing region. The deck may have any shape and is advantageously arranged to hold a payload prior to deployment to the water by the launch and recovery system.

[0025] In addition, the provision of a lifting boom being pivotably connected to the deck of the USV facilitates tow cable separation with any additional payloads that may be deployed e.g., directly behind the vessel or on an opposing side to the location of the lifting boom.

[0026] In an implementation of the present disclosure, the launch and recovery system is arranged to at least deploy a payload to the water, without necessarily recovering the payload. The term launch and recovery system is used in the industry to denote systems that may deploy and / or recover payloads from to the water. In an implementation, the launch and recovery system of the present disclosure only deploys the payload to the water. The retrieval of the payload may be done by another vessel or the USV may sail into port such that the payload is retrieved when the vessel is in a harbour. Alternatively, or additionally, the USV may use the launch and recovery system for partial recovery, in which the payload is to a degree controlled by the launch and recovery system, either being secured above the waterline, or kept at a shallow depth, below the splash zone, with limited cable length.

[0027] Conventional deployment techniques on large scale crewed vessels often utilize an A-frame. Within the context of maritime operations, A-frames serve as a deployment and retrieval apparatus for payloads from vessels. These structures typically consist of two legs connected by a lateral strut at the top and anchored at the base. The legs may be articulated by a hydraulic actuator, which forms, together with the leg it articulates, an A-shape. This design provides the mechanical leverage necessary to lower and lift heavy payloads, such as underwater research equipment or recovery items, into and from the sea. These A-frames typically have a large footprint. In addition, A-frames generally have a large height. This is because the legs need to extend beyond the aft of the vessel to allow the payload to be deployedsufficiently far away from the vessel, for safety purposes. When the legs move upwards to position the lateral strut above the deck of the vessel, legs extend upwards.

[0028] On uncrewed surface vessels, the use of an A-frame is problematic due to the space it occupies on deck. US Vs are smaller in relation to their typical payload, making the A-frame occupy a larger percentage of the deck space, which limits the possibilities of other payloads to be deployed or other operations to be executed. Furthermore, the height of the A-frame has two associated issues. Firstly, the height of the A-frame, required to achieve sufficient distance from the vessel for safe deployment of the payload may lead to the vessel being instable once it is in retracted, upward, position. Second, in the retracted position, an A-frame may lead to a loss of communication between the remote operating centre and the USV if the A-frame blocks the line-of-sight with a communication satellite. For normal vessels, the communication antennae are typically higher, and the risk of losing communication is not as detrimental because there is staff on board. When using USVs, the possibility of losing communications between the remote operations centre and the USV can have highly undesirable consequences and may lead to very unsafe situations.

[0029] Additionally, traditional A-frames are heavy. As such, the use of one or more A- frames on the aft of a USV negatively influences the vessel stability and its fuel efficiency. Furthermore, A-frames typically cannot deploy payloads under the splash-zone (i.e., the waterair interface). As such, the use of A-frames on the aft of the vessel has the further disadvantage that the payload can violently hit the water surface in the event that the USV moves under the influence of swell and / or wind. The provision of a launch and recovery system in accordance with the present disclosure mitigates these disadvantages, which are associated with traditional launch-and recovery systems.

[0030] The use of a launch and recovery system comprising a lifting boom which is pivotably connected to the deck of the USV solves this problem, as the boom can stay relatively low, compared to a traditional A-frame. This means that the lifting boom does not interfere with the line-of-sight between the USV and the remote operating centre. Furthermore, it does not negatively affect the stability of the vessel when the boom is in its retracted position on deck. The launch and recovery system of the present disclosure also limits the total footprint on deck, as the lifting boom may be positioned parallel to a side of the vessel, thereby only occupying a thin strip along the sides of the vessel, in contrast to the large footprint of an A- frame. The use of the launch and recovery system of the present disclosure thus solves the problems associated with conventional launch and recovery systems.

[0031] In addition, the use of a launch and recovery system using a lifting boom pivotably coupled to the deck of the USV also allows for increased ease of maintenance when the USV is in dock or moored to another vessel. The lifting boom, possibly with its payload, can pivot outwards, such that the coupling mechanism of the lifting boom can be accessed without the need of boarding the vessel. Finally, the use of a lifting boom pivotably connected to the deck of the USV allows for an increased range of motion compared to traditional launch and recovery systems. Because the lifting boom can pivot outward from the vessel, it allows for the positioning of the payload at various distances laterally to the vessel. For example, a 30° outward rotation will place the payload closer to the travel path of the vessel than a 60° outward rotation. In this way, the positioning of the payload can be chosen, dependent on e.g., the need for entanglement prevention, the need for operations in undisturbed water, and the expected forces on the lifting boom.

[0032] With the pivoting arm design, the launch and recovery functionality on the vessel can continue with no risk that it will block the line-of-sight link between vessel and satellite, as by design, it always remains under the receiver on the vessel during operation whilst meeting or exceeding the reach obtained by traditional methods of launch and recovery on a USV with equal space-claim. The pivoting arm solution could be implemented in various configurations while maintaining a low centre of gravity of the vessel. In addition, the pivoting arm minimises the vertical centre of gravity which is necessary for the stability of the floating vessel.

[0033] Furthermore, the use of a lifting boom, being pivotably coupled with the deck of the USV allows for active balancing of the USV while it is influenced by the swell and / or wind. By moving the lifting boom contrary to the movement of the USV, the vessel movement can be actively compensated, thus keeping the payload in a more stable position in relation to the water surface during deployment thereof.

[0034] In an implementation, the lifting boom further comprises at least one linear actuator, coupled to the distal end of the lifting boom, which can retract and expand to compensate for a roll movement of the vessel.

[0035] In an implementation, the USV further comprises an pivot actuator arranged to control the pivotal movement of the lifting boom, and wherein the pivot actuator is arranged to move the lifting boom such that the movement of the lifting boom compensates for a yaw movement of the USV under the influence of e.g., swell and / or wind.

[0036] In an implementation of the present disclosure, the launch and recovery system is further arranged to retrieve the payload from the water onto the deck. Advantageously, the launch and recovery system can retrieve the payload from the water. The launch and recoverysystem may be configured to retrieve the payload from the water in substantially the same manner as the deployment.

[0037] In an implementation of the present disclosure the lifting boom comprises a base hinge, the base hinge being positioned adjacent to the base of the lifting boom, wherein a rotation of the lifting boom around the base hinge moves the distal end of the lifting boom in a vertical direction.

[0038] In an implementation of the present disclosure, the base hinge is positioned on top of the base of the lifting boom. This way, the pivotal connection between the lifting boom and the deck of the USV effectuating horizontal movement of the distal end of the lifting boom is provided below the base hinge, which is arranged to move the distal end of the lifting boom vertically.

[0039] Due to the possible movement of the base hinge to displace the distal end of the lifting boom vertically, the launch and recovery system can be positioned in an operational position, a launch and / or recovery position, and a resting position. In the operational position, the coupling mechanism on the distal end of the lifting boom is positioned above the water-air interface, i.e., above the splash zone. The payload is dragged through the water by means of a cable attached to the lifting boom. The cable keeps the payload at a target operational depth during, e g., data acquisition. Having the docking head well above the water reduces hydrodynamic drag and wear and tear of the coupling mechanism. In a second position, the system is placed in a launch and / or recovery position, in which the coupling mechanism at the distal end of the lifting boom is below the waterline, such that the splash zone cannot influence the payload, thus increasing reliability of the system. This allows the payload sensors to be deployed and recovered in more benign conditions under the wave splash zone. This aids successful launch from and recovery into the docking head of the payload sensors.

[0040] In an implementation of the present disclosure, the coupling mechanism is rotationally coupled to the distal end of the lifting boom such that it can yaw around a vertical axis. As a result, the payload can rotate in such a way that the payload is aligned with the direction of travel of the USV, regardless of the angle which is defined between the lifting boom and the USV. In an advantageous implementation, the coupling mechanism is further rotationally coupled to the distal end of the lifting boom such that it can yaw around a vertical axis and pitch around a horizontal axis. As such, the horizontal position of the payload can be maintained, even if the vessel moves under the influence of the swell and / or wind.

[0041] In an implementation of the present disclosure the lifting boom further comprises at least one vertical drive system, arranged to rotate the lifting boom around the base hinge.The lifting vertical drive system of the lifting boom moves the lifting boom in a vertical direction. This can be done, for example, by providing a hydraulic or electric actuator.

[0042] In an implementation of the present disclosure, the at least one vertical drive system comprises an electric actuator connected to the boom to drive the rotation of the lifting boom around the base hinge. Alternatively, or additionally, the vertical drive system comprises a rotary drive system, provided within the base hinge.

[0043] As the weight of a payload increases, torque on the base hinge increases and having an actuator, e.g., hydraulic or electric, to drive the lifting boom vertically becomes more advantageous. In an advantageous implementation, the actuator is provided between the base and the lifting boom. In an advantageous implementation, the actuator is connected to a section of the lifting boom positioned away from the base on one end, and at the base on another end.

[0044] In an implementation of the present disclosure, the coupling mechanism comprises at least one laterally extending flange. In an advantageous implementation, the coupling mechanism comprises two opposing laterally extending flanges, wherein a space is defined between the two opposing laterally extending flanges, such that a part of the payload can extend through the space, while the laterally extending flanges are arranged to engage with an upper surface of the payload. Advantageously, such an arrangement allows for the payload to be drawn tightly into the coupling mechanism, without damaging the sensitive parts in the middle of the payload.

[0045] In an implementation of the present disclosure, the launch and recovery system further comprises an electric power source. Advantageously, the launch and recovery system is fully electrically operated, and uses an electric power source to drive the actuators for deployment and recovery of the payload.

[0046] In an implementation of the present disclosure, the USV further comprises a deck cradle, the deck cradle comprising a receiving unit arranged to support the payload on deck.

[0047] In an advantageous implementation the deck of the USV comprises a deck cradle, which can engage with an underside of the payload to fasten the payload in place.

[0048] In an implementation of the present disclosure, the USV further comprises a boom rest latch, having an elevated support structure and a boom receiving unit, arranged to receive and support at least a part of the lifting boom on the deck of the uncrewed surface vessel.

[0049] In an implementation of the present disclosure, the boom receiving unit comprises a moving clamp arranged to move between an open and a closed position such that, in the closed position the boom receiving unit is arranged to fasten the lifting boom in place.

[0050] In an implementation of the present disclosure, the USV further comprises at least one deck rail, wherein the at least one launch and recovery system is connected to the at least one deck rail such that the at least one launch and recovery system can move along the at least one deck rail.

[0051] In an implementation of the present disclosure, the at least one launch and recovery system comprises a winch, the winch being arranged to extend and retract a cable, the cable being attached to the payload. In an advantageous implementation, the minimum required cable length will depend on the maximum water depth in the operational area as well as on the speed of the vessel. The winch advantageously has a rotation mechanism which enables deployment of the payload sensor from parking position onboard the vessel towards the operational position at the side of the vessel.

[0052] In an implementation of the present disclosure, the uncrewed surface vessel further comprises a second launch and recovery system. The second launch and recovery system may be arranged to deploy a payload from the deck into the water. The second launch and recovery system may comprise a second lifting boom. The second lifting boom may have a base and a distal end. The base of the second lifting boom may be pivotably coupled to the deck of the USV. In such an implementation, the distal end of the second lifting boom can define a horizontal movement in relation to the deck. In an implementation, the distal end of the second lifting boom comprises a second coupling mechanism arranged to couple to a second payload. The components of the second launch and recovery system may be substantially the same as the components of the first launch and recovery system. Features disclosed in relation to the implementations of the first launch and recovery system may be equally combined with the features of the second launch and recovery system.

[0053] Having two launch and recovery systems advantageously allows the deployment of two payloads at the same time. In an advantageous implementation, the first and second launch and recovery systems are positioned at laterally opposing regions of the USV. As such, they can pivot outward from opposing sides of the USV, thus providing a large spacing between deployed payloads from the USV. The ability to maximise payload separation is a significant advantage over conventional deployment systems using, e.g., two A-frames laterally positioned next to one another. Having to launch and recovery systems using booms which are pivotably connected to the deck of the USV strongly increases the line separation between the payloads.

[0054] In an implementation of the present disclosure, the two launch and recovery systems are positioned on laterally opposing regions of the uncrewed surface vessel.

[0055] In an implementation of the present disclosure, the coupling mechanism is pivotably coupled to the distal end of the lifting boom, such that the payload may be rotated depending on the angle of the lifting boom. This advantageously allows the payload to be provided at a desirable orientation, regardless of the position of the lifting boom.

[0056] According to an aspect of the present disclosure, there is provided a method of deploying a payload from an uncrewed surface vessel, the method comprising the steps of providing an uncrewed surface vessel according to any of the preceding claims, engaging the horizontal translation mechanism to move the extending launch and recovery unit in a horizontal direction from a resting position to a deployment position; and deploying a payload from the deck into the water.

[0057] According to an aspect of the present disclosure, there is provided a method of deploying a payload from an uncrewed surface vessel. The method comprises the steps of providing an uncrewed surface vessel according to any of implementations of the present disclosure and deploying a payload from the deck into the water.

[0058] In an implementation of the present disclosure, the method further comprises rotating the lifting boom of the launch and recovery system from a resting position wherein the lifting boom is positioned above the deck of the USV to a deployment position wherein the distal end of the lifting boom is submerged in the water, such that the payload is submerged. This advantageously prevents the engagement of the splash-zone with the payload during the deployment, making the system less prone to failure.

[0059] In an implementation of the present disclosure, the method further comprises the step of deploying the payload from the coupling mechanism, and moving the lifting boom to an operational position, wherein the distal end of the lifting boom is positioned above the water. This advantageously reduced hydrodynamic drag during operations.

[0060] In an implementation of the present disclosure, the lifting boom rotates vertically and laterally during operation such that at least one of the roll, pitch and yaw movements of the USV are counteracted.

[0061] Various example implementations of the disclosure are discussed in detail herein. While specific implementations are discussed, it should be understood that this is done for illustration purposes only. A person skilled in the relevant art will recognize that other components and configurations may be used without parting from the spirit and scope of the disclosure.

[0062] Thus, the following description and drawings are illustrative and are not to be construed as limiting. Specific details are described to provide a thorough understanding of thedisclosure. However, in certain instances, well-known or conventional details are not described in order to avoid obscuring the description. A reference to an implementation in the present disclosure can be a reference to the same implementation or any other implementation. Such references thus relate to at least one of the implementations herein.

[0063] Reference to “one implementation” or “an implementation” means that a particular feature, structure, or characteristic described in connection with the implementation is included in at least one implementation of the disclosure. The appearances of the phrase “in one implementation” in various places in the specification are not necessarily all referring to the same implementation, nor are separate or alternative implementations mutually exclusive of other implementations. Moreover, various features are described which may be exhibited by various implementations and not by others.

[0064] The terms used in this specification generally have their ordinary meanings in the art, within the context of the disclosure, and in the specific context where each term is used. Alternative language and synonyms may be used for any one or more of the terms discussed herein, and no special significance should be placed upon whether or not a term is elaborated or discussed herein. In various cases, synonyms for certain terms are provided. A recital of one or more synonyms does not exclude the use of other synonyms. The use of examples anywhere in this specification including examples of any terms discussed herein is illustrative only and is not intended to further limit the scope and meaning of the disclosure or of any example term. Likewise, the disclosure is not limited to various implementations given in this specification.

[0065] Without intent to limit the scope of the disclosure, examples of instruments, apparatus, methods, and their related results according to the implementations of the present disclosure are given below. Note that titles or subtitles may be used in the examples for convenience of a reader, which in no way should limit the scope of the disclosure. Unless otherwise defined, technical and scientific terms used herein have the meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. In the case of conflict, the present document, including definitions will control.BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to describe the manner in which the above-recited and other advantages and features of the disclosure can be obtained, a more particular description of the principles briefly described above will be rendered by reference to specific implementations thereof which are illustrated in the appended drawings. Understanding that these drawings depict only exemplary implementations of the disclosure and are therefore not to be considered to be limiting of its scope, the principles herein are described and explained with additional specificity and detail through the use of the accompanying drawings in which:

[0067] FIG. 1 shows a three-dimensional view of an uncrewed surface vessel (USV) according to an implementation of the present disclosure;

[0068] FIG. 2 shows a top view of a USV according to an implementation of the present disclosure;

[0069] FIG. 3 shows a frontal view of a USV according to an implementation of the present disclosure;

[0070] FIG. 4 shows a three-dimensional view of a lifting boom of a USV according to an implementation of the present disclosure;

[0071] FIG. 5 shows a three-dimensional view of a distal end of a lifting boom of a USV according to an implementation of the present disclosure;

[0072] FIG. 6 shows a side view of a USV according to an implementation of the present disclosure;

[0073] FIG. 7 shows a side view of a USV according to an implementation of the present disclosure;

[0074] FIG. 8 shows a side view of a USV according to an implementation of the present disclosure; and

[0075] FIG. 9 shows a schematic diagram showing a method of deploying a payload from an uncrewed surface vessel.DESCRIPTION OF ILLUSTRATIVE IMPLEMENTATIONS

[0076] The following is a description of certain implementations of the invention, given by way of example only and with reference to the drawings.

[0077] Referring to FIG. 1, a three-dimensional view of an uncrewed surface vessel (USV) 1 is shown, according to an implementation of the invention. The shown implementation shows the aft section of the USV 1, not the bow of the USV 1. The USV 1 comprises a hull 2 which is arranged to be partly submerged in water. The USV 1 further comprises a deck 11 and a propulsion device 12 arranged to move the USV through water. The USV 1 further comprises at least one launch and recovery system 3, arranged to deploy a payload 10 from the deck 11 into the water. The launch and recovery system 3 comprises a lifting boom 4 having a base 41 and a distal end 42. The base 41 of the lifting boom 4 is pivotably coupled to the deck 11 of the USV 1, such that the distal end 42 of the lifting boom 4 can define a horizontal movement in relation to the deck 11. The distal end 42 comprises a coupling mechanism 5 arranged to couple to a payload 10.

[0078] In the shown implementation, the lifting boom 4 comprises a base hinge 43, the base hinge 43 being positioned adjacent to the base 41 of the lifting boom 4, wherein a rotation of the lifting boom 4 around the base hinge 43 moves the distal end 42 of the lifting boom 4 in a vertical direction. The lifting boom 4 of the shown implementation further comprises a vertical drive system 44, arranged to rotate the lifting boom 4 around the base hinge 43. In the shown implementation the lifting boom 4 comprises two vertical drive systems 44, in the form of actuator rods, which are coupled between the lifting boom 4 and the base 41 of the lifting boom 4. In an implementation, the vertical drive system 44 is an electric actuator.

[0079] The lifting boom 4 in the shown implementation is has a triangular structure, when seen from a top view, see also in FIG. 2. This allows the lifting boom 4 to extend on two sides of the base 41. This allows rotational forces exerted by the base 41 of the lifting boom 4 to be translated more efficiently.

[0080] In the shown implementation, the USV 1 further comprises a deck cradle 13 which comprises a receiving unit 14 arranged to support the payload 10 on the deck 11 of the USV 1.

[0081] The USV 1 of the present disclosure further comprises a boom rest latch 15 having an elevated support structure 16 and a boom receiving unit 17, arranged to receive and support at least a part of the lifting boom 4 on the deck 11 of the USV 1. In the shown implementation, the lifting boom 4 comprises a rest strut 45, provided on an underside of the lifting boom 4, which is arranged to engage with the boom rest latch 15. The rest strut 45 may be supported bythe receiving unit 17 of the boom rest latch 15. In the shown implementation, the receiving unit 17 comprises a moving clamp 18, arranged to move between an open and a closed position such that, in the closed position the boom receiving unit 17 is arranged to secure the lifting boom 4 in place.

[0082] In the shown implementation, the coupling mechanism 5 comprises two laterally extending flanges 51. These are positioned such that a cable can run over the guide wheels 52 of the coupling mechanism 5 and so that a portion of the payload 10 can protrude upwards between the flanges 51. This way, the payload 10 can be hoisted up towards the coupling mechanism 5 and be secured in place by applying a tension force to the cable, which pulls the payload against the flanges 51. The flanges 51 may be adapted such that they engage with a robust portion of the payload 10, which can withstand the forces required to secure the payload.

[0083] In the shown implementation, the USV 1 comprises a deck rail 19, which supports the launch and recovery system 3. The launch and recovery system 3 is connected to the deck rail 19 such that the launch and recovery system 3 can move over the deck 11 along the deck rail 19.

[0084] In the shown implementation, the launch and recovery system 3 of the USV 1 further comprises a winch 6, the winch 6 being arranged to extend and retract a cable, the cable being attached to the payload 10.

[0085] The winch 6 is contained in a housing 61, which also forms part of the base 41 of the lifting boom 4. The housing 61 and the winch 6 in the housing 61, are pivotably connected to the deck 11 of the USV, such that they rotate, along with the lifting boom 4 to define a horizontal movement of the distal end 42 of the lifting boom 4. The base hinge 43 of the lifting boom 4 is also connected to the housing 61. The vertical drive system 44, in the form of electric actuators in the shown implementation, are provided between the housing 61 and the lifting boom 4 at opposing sides of the housing 61. The cable is fed outside of the housing 61 and between the laterally opposing parts of the lifting boom 4 to a set of lifting boom cable guides 46, which are provided in the shown embodiment opposite the rest strut 45 of the lifting boom 4.

[0086] In the shown implementation, the coupling mechanism 5 is pivotably coupled to the distal end 42 of the lifting boom 4, such that the payload 10 may be rotated depending on the angle of the lifting boom 4. The coupling that provides the pivotable connection is provided between the guide wheels 52 and the distal end 42 of the lifting boom 4. The distal end 42 of the lifting boom 4 also comprises an end cable wheel 47, which is positioned above the guide wheels 52 of the coupling mechanism 5. As such, the cable runs straight down from the endcable wheel 47 to the guide wheels 52 of the coupling mechanism 5, thus minimizing the lateral strain on the cable when the coupling mechanism 5 rotates in relation to the distal end 42 of the lifting boom 4.

[0087] Now referring to FIG. 2, a top view of a USV 1 according to an implementation of the present disclosure is shown. The shown USV 1 comprises two laterally opposed launch and recovery systems 3, which are provided on opposing sides of the USV 1. The second launch and recovery system 3 is similar to the launch and recovery system 3 discussed above. Reference will be made to the same components of the launch and recovery system 3. The second launch and recovery system 3 comprises a second lifting boom 4 having a base 41 and a distal end 42. The base 41 of the second lifting boom 4 being pivotably coupled to the deck 11 of the USV 1, such that the distal end 42 of the second lifting boom 4 can define a horizontal movement in relation to the deck 11, and wherein the distal end 42 of the second lifting boom 4 comprises a coupling mechanism 5 arranged to couple to a second payload 10.

[0088] The two launch and recovery systems 3 are positioned on laterally opposing regions of the USV 1 They may independently operate to deploy and / or recover payloads 10 to and from the water. The lifting booms 4 of the launch and recovery systems 3 may independently pivot in relation to the deck 11 of the USV 1. In the shown implementation, the launch and recovery system 3 on the starboard side of the USV 1, on the left side of FIG. 2, is outwardly pivoted. This is in line with the shown implementation of FIG. 1, in which the payload 10 is provided above the water.

[0089] In the shown implementation, the port side launch and recovery system 3 is in a resting position, with the payload 10 provided on the deck cradle 13. The port side launch and recovery system 3 also shows the position of the cable 62, running from the winch 6 in the housing 61 to the lifting boom cable guides 46, and further to the coupling mechanism 5 on the distal end 42 of the lifting boom 4.

[0090] The USV 1 further comprises an extending launch and recovery unit 7, the extending launch and recovery unit 7 being attached to a horizontal translation mechanism 71, arranged to move the extending launch and recovery unit in a horizontal direction from a resting position to a deployment position.

[0091] According to an implementation, the extending launch and recovery unit comprises a winch 72. In the shown implementation, the extending launch and recovery unit 7, is connected to the horizontal translation mechanism 71, while the winch 72 is directly coupled to the deck 11. As a result, when the horizontal translation mechanism 71 extends to drive the platform 74 and the A-frame 73 over the stern of the vessel, the winch 72 stays in the sameplace, and only extends the cable at the same rate as the platform 74 extends outward over the stern of the USV 1. In the shown implementation, the extending launch and recovery unit 7 is in the deployment position, such that the payload 10 is over the stern of the USV 1 and positioned above the water for deployment. In the shown implementation, the extending launch and recovery unit 7 is positioned on a rear region of the USV 1, such that it can deploy a payload from the stern of the USV 1 into the water.

[0092] In the shown implementation, the extending launch and recovery unit 7 comprises an A-frame 73, more clearly shown in FIG. 6, which is provided on a supporting structure 74. In the shown implementation, the supporting structure 74 is a platform.

[0093] The supporting structure 74 is movably coupled to the deck 11 of the USV 1 on a set of deck rails 75. The moving platform 74 is coupled to the horizontal translation mechanism 71, such that the extending launch and recovery unit 7 as a whole can be moved in a horizontal direction.

[0094] Now referring to FIG. 3, a frontal view of a USV 1 according to an implementation of the present disclosure is shown. The USV 1 comprises two propulsion devices 12, mounted to the hull of the USV 1. The lifting boom 4 is pivotably coupled to the deck 11 of the USV 1 such that it can move between a deployment position, and a recovery position. As shown, the vertical drive system 44 can extend or retract to cause the lifting boom 4 to move up and down, allowing the payload 10 to be deployed to and from the water. In the shown implementation, the starboard launch and recovery system 3 is provided in an operational position, while the port side launch and recovery system 3 is provided in a resting position.

[0095] The shown implementation further comprises an extending launch and recovery unit 6, comprising an A-frame 73 having a rectangular frame 76 and at least one strut, more clearly shown in FIG. 6 of the present disclosure.

[0096] Now referring to FIG. 4, a three-dimensional view of a lifting boom 4 of a USV 1 according to an implementation of the present disclosure is shown. The lifting boom 4 has a base 41 and a distal end 42. The base 41 of the lifting boom 4 is pivotably coupled to the deck 11 of the USV 1, such that the distal end 42 of the lifting boom 4 can define a horizontal movement in relation to the deck 11. The distal end 42 of the lifting boom 4 comprises a coupling mechanism 5 arranged to couple to a payload 10.

[0097] The base 41 of the lifting boom 4 is coupled to the deck 11 via a deck rail 19. In the shown implementation, the launch and recovery system 3 of the USV 1 further comprises a winch 6, the winch 6 being arranged to extend and retract a cable, the cable being attached tothe payload 10. The winch 6 is contained in a housing 61, forming part of the base 41 of the lifting boom 4.

[0098] The housing 61 and the winch 6 in the housing 61, are pivotably connected to the deck 11 of the USV, via the deck rail 19. The vertical drive system 44, in the form of electric actuators in the shown implementation, are provided between the housing 61 and the lifting boom 4 at opposing sides of the housing 61.

[0099] The lifting boom 4 in the shown implementation defines a Y-shape, such that the lifting boom 4 extends from the distal end 41 to both sides of the housing 61 holding the winch 6. The distal end 41 of the lifting boom 4 comprises a coupling mechanism 5. The coupling mechanism 5 defines two laterally opposing flanges 51.

[0100] Now referring to FIG. 5, a three-dimensional view of a distal end 41 of a lifting boom 4 of a USV 1 according to an implementation of the present disclosure is shown. The coupling mechanism 5 comprises a guide wheel 52, provided above the payload 10, such that the payload 10 may be pulled against the laterally extending flanges 51 by a force applied by the cable 53.

[0101] In the shown implementation, the coupling mechanism 5 is pivotably coupled to the distal end 42 of the lifting boom 4, via a rotational connection 55, such that the payload 10 may be rotated, relative to the distal end 42 of the lifting boom 4, depending on the angle of the lifting boom 4. This has the advantage that the payload 10 may be independently oriented to be in line with the direction of travel of the USV 1, regardless of the angle defined by the lifting boom 4 with the USV 1. The rotational connection 55 that provides the pivotable connection is provided between the guide wheel 52 and the distal end 42 of the lifting boom 4. The distal end 42 of the lifting boom 4 also comprises an end cable wheel 47, which is positioned above the guide wheels 52 of the coupling mechanism 5. As such, the cable runs straight down from the end cable wheel 47 to the guide wheel 52 of the coupling mechanism 5, thus minimizing the lateral strain on the cable when the coupling mechanism 5 rotates in relation to the distal end 42 of the lifting boom 4.

[0102] The coupling mechanism 5 further comprises a cable retention wheel 54, arranged to press the cable against the guide wheel 52. This helps prevent the cable 53 sliding out from the guide wheel 52.

[0103] Now referring to FIG. 6, a side view of a USV 1 according to an implementation of the present disclosure is shown. The extending launch and recovery unit 7 comprises an A- frame 73, which is provided on a supporting structure 74. In the shown implementation, thesupporting structure 74 is a support platform. The A-frame 73 has a rectangular frame 76 and two struts 77, which engage with either side of the rectangular frame 76.

[0104] The supporting structure 74 is movably coupled to the deck 11 of the USV 1 on a set of deck rails 75. The moving platform 74 is coupled to the horizontal translation mechanism 71, such that the extending launch and recovery unit 7 as a whole can be moved in a horizontal direction. In the shown implementation, the extending launch and recovery unit 7 is in an extended position, in which the A-frame 73, supported by the support platform 74, is provided over the stem of the USV 1, such that at least the payload 10, but preferably the whole A-frame 73 as well, is provided above the water. This allows the A-frame 73 to reach and deploy the payload 10 sufficiently far over the stem of the USV 1, without being very tall and possibly interfering with communication signals.

[0105] Further, the extending launch and recovery unit comprises at least one winch 72. In the shown implementation, the extending launch and recovery unit 7 is in the deployment position, such that the payload 10 is over the stem of the USV 1 and positioned above the water for deployment In the shown implementation, the extending launch and recovery unit 7 is positioned on a rear region of the USV 1, such that it can deploy a payload from the stem of the USV 1 into the water.

[0106] The one or more stmts 77, may be an actuator, which can extend and retract, such that the A-frame 73 can rotate around a hinge provided between the A-frame 73 and the support structure 74. By providing an actuator 77, the rectangular frame 76 of the A-frame 73 can move inward an outward, such that the payload 10 may be extended or retracted in relation to the deck 11. In the shown implementation, the at least one stmt 77 is static.

[0107] Now referring to FIG. 7 and FIG. 8, a side view of a USV 1 according to an implementation of the present disclosure is shown. The USV 1 comprises a hull 2 arranged to be partly submerged in water; a deck 11; and a propulsion device arranged to move the uncrewed surface vessel through water. The USV 1 further comprises an extending launch and recovery unit 7, arranged to deploy a payload 10 of the USV 1 into the water, the extending launch and recovery unit 7 being attached to a horizontal translation mechanism 71, arranged to move the extending launch and recovery unit 7 in a horizontal direction from a resting position to a deployment position. In the shown implementation of FIG. 7, the horizontal translation mechanism 71 is in the process of moving the extending launch and recovery unit 7 from the resting position to the deployment position. The implementation of FIG. 8 shows the extending launch and recovery unit 7 in a deployment position, such that the payload 10 is provided over the stern of the USV 1.

[0108] In the shown implementation, the extending launch and recovery unit 7 comprises a deployment beam 78 comprising a proximal end 701 and a payload end 702. The deployment beam 78 is pivotably coupled to a support structure 74 at the proximal end 701. The deployment beam 78 may further be coupled to the support structure 74 by a centre actuator 79, defining an angle with the deployment beam 78. Because an angle is defined between the centre actuator 79 and the deployment beam 78, the extension or retraction of the centre actuator 79 leads to rotation of the deployment beam 78 around the proximal end 701. This causes the payload end 702 to move in a substantially vertical direction.

[0109] After the horizontal translation mechanism 71 has moved the extending launch and recovery unit 7 to the deployment position, the centre actuator 79 may be retracted, such that the payload end 702 of the deployment beam 78 lowers towards and into the water.

[0110] Now referring to FIG. 9, a schematic diagram showing a method of deploying a payload from an uncrewed surface vessel according to an example implementation of the disclosure is shown. The shown method comprises the steps of providing 91 a USV 1, according to any of the embodiment in this disclosure; engaging the horizontal translation mechanism 71 to move the extending launch and recovery unit 7 in a horizontal direction from a resting position to a deployment position; and deploying a payload 10 into the water. The method may further comprise the step of moving the deployment beam 78 to an operational position, wherein the payload end 702 of the deployment beam 78 is positioned above the water.

[0111] The invention has been described by reference to certain implementations discussed above. It will be recognized that these implementations are susceptible to various modifications and alternative forms well known to those of skill in the art.

[0112] Further modifications in addition to those described above may be made to the structures and techniques described herein without departing from the spirit and scope of the invention. Accordingly, although specific implementations have been described, these are examples only and are not limiting upon the scope of the invention.

Claims

CLAIMS1. Uncrewed surface vessel (USV) for performing remote offshore projects, the USV comprising; a hull arranged to be partly submerged in water; a deck; a propulsion device arranged to move the uncrewed surface vessel through water; an extending launch and recovery unit, arranged to deploy a payload of the USV into the water, the extending launch and recovery unit being attached to a horizontal translation mechanism, arranged to move the extending launch and recovery unit in a horizontal direction from a resting position to a deployment position.

2. The uncrewed surface vessel of any preceding claim, wherein the extending launch and recovery unit comprises a winch.

3. The uncrewed surface vessel of claim 2, wherein the winch is provided in a housing.

4. The uncrewed surface vessel of claim 2 or 3, wherein the winch is coupled statically to the deck of the USV, such that the horizontal translation mechanism is arranged to move the payload horizontally, in relation to the winch.

5. The uncrewed surface vessel of any preceding claim, wherein the extending launch and recovery unit is positioned on a rear region of the USV, such that it can deploy a payload from the stern of the USV into the water.

6. The uncrewed surface vessel of any preceding claim, wherein the extending launch and recovery unit comprises a deployment beam comprising a proximal end and a payload end, the deployment beam being coupled to the horizontal translation mechanism.

7. The uncrewed surface vessel of claim 6, wherein the deployment beam is coupled to a support structure, the support structure being coupled to the horizontal translation mechanism.

8. The uncrewed surface vessel of claim 7, wherein the deployment beam is pivotably coupled to a support structure at the proximal end, such that movement of the deployment beam around the proximal end causes substantially vertical movement of the payload.

9. The uncrewed surface vessel of claim 8, wherein the deployment beam is further coupled to the support structure by a centre actuator, defining an angle with the deployment beam, the centre actuator being arranged to rotate the deployment beam around the proximal end.

10. The uncrewed surface vessel of any of claims 1 to 5, wherein the extending launch and recovery unit comprises an A-frame.

11. The uncrewed surface vessel of claim 10, wherein the A-frame is provided on a support structure, the support structure being coupled to the horizontal translation mechanism.

12. The uncrewed surface vessel of claim 11, wherein the A-frame comprises a rectangular frame and at least one strut, the at least one strut extending between the rectangular frame and the support structure.

13. The uncrewed surface vessel of claim 12, wherein the at least one strut fixes the position of the rectangular frame in relation to the deck of the USV.

14. The uncrewed surface vessel of any preceding claim, further comprising at least one launch and recovery system, arranged to deploy a payload from the deck into the water, wherein the launch and recovery system comprises a lifting boom having a base and a distal end,wherein the base of the lifting boom is pivotably coupled to the deck of the USV, such that the distal end of the lifting boom can define a horizontal movement in relation to the deck, and wherein the distal end comprises a coupling mechanism arranged to couple to a payload.

15. Method of deploying a payload from an uncrewed surface vessel, the method comprising the steps of: a. providing an uncrewed surface vessel according to any of the preceding claims, b. engaging the horizontal translation mechanism to move the extending launch and recovery unit in a horizontal direction from a resting position to a deployment position; and c. deploying a payload into the water.

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