Apparatus and method for deploying a payload from a vessel

Abstract

Apparatus, systems, methods, and computer-readable media are disclosed for deploying a payload from a vessel and / or recovering a payload by a vessel. The apparatus comprises a docking head and a hoist frame. Also disclosed herein is a launch and recovery system for deploying a payload from a deck of a vessel, the launch and recovery system comprising the apparatus. Unlocking insights from Geo-Data, the present invention further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.

Description

APPARATUS AND METHOD FOR DEPLOYING A PAYLOAD FROM A VESSELTECHNICAL FIELD

[0001] This disclosure relates to apparatus, methods, systems, and / or computer readable media for deploying a payload from a vessel and / or recovering a payload by a vessel. The disclosure further relates to launch and recovery systems for deploying a payload from a deck of a vessel and / or methods of use of those launch and recovery systems. The disclosure further relates to a method of moving a payload by a vessel using a launch and recovery system. Unlocking insights from Geo-Data, the present invention further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.BACKGROUND

[0002] There is a general and ongoing need to improve the reliability and quality 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 vessel floating on 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 airwater interface. When in the splash zone, a launch and recovery system can experience highly increased slamming forces, causing sudden movements and associated dangerous situations. This is due to the motion of the vessel relative to the water. There is a need to improve the safety of payload deployment, but also to increase efficiency and speed of deployment.

[0003] Conventional approaches for launch and recovery of payloads include moonpools and A-frame-based approaches. A moonpool is an opening that provides access to the water through the floor or base of the vessel. Moonpools have a static and stable location on the vessel and are thus a reliable approach for deployment of heavy payloads in particular. An A-frame can be used to lift a payload from a deck and move it over the water by means of a raised beam or strut and a tensioned cable attached to the payload. The beam or strut is typically arranged horizontally to span a gap between two parallel legs at the edge of a vessel, such as at the aft or a side of the vessel. The legs may be attached to the deck and rotatable relative to the deck such that the pitch angle of the A frame can be changed in order to position the beam either over the deck or over the water for deployment. By effectively hanging the payload from the beam using a tensioned cable connected to a component such as a winch, the payload can be moved from a stowedposition on deck to a deployment position over the water using the A-frame. The payload can then be lowered into the water by extending the cable using the winch and can be retrieved by pulling in the cable using the winch. However, deploying and / or recovering a payload in this way requires careful synchronization of the movement of the A-frame with the extension / retraction of the tensioned cable in order to keep the payload stable and restrict undesirable falling, or swinging of the payload. Such synchronization can be challenging to implement and / or can reduce the speed of deployment. Furthermore, the payload may rotate around the tensioned cable such that the orientation of the payload is uncertain and can only be influenced once the payload is within reach of equipment on deck. This further adds to the potentially dangerous situations, particularly when the vessel has significant heave motion due to waves.

[0004] There is a need for launch and recovery systems that meet the requirements of a multitude of different operational scenarios, in which payloads are safely deployed and recovered in various configurations. There is thus a need for improved apparatus and methods for the deployment and / or recovery of payloads from vessels.OVERVIEW

[0005] The present disclosure provides apparatus, systems, and / or methods for improved deployment and recovery of payloads from vessels. In particular, the apparatus, systems, and / or methods disclosed herein can provide improved coupling of the payload to the launch and recovery system (LARS) of the vessel, avoiding the complex synchronization of parts conventionally required and improving the reliability and operational versatility of the system.

[0006] Apparatus for deploying a payload from a vessel is disclosed. The apparatus comprises a docking head comprising a fixing interface arranged to be coupled to a payload launch frame, the docking head being arranged to define at least two laterally separated hoist line paths, each hoist line path being arranged to accommodate at least part of a respective hoist line for lifting a payload; and a hoist frame comprising: a docking interface arranged to be releasably attached to the docking head, wherein the hoist frame is arranged to accommodate, at least in part, at least two laterally separated hoist lines for lifting a payload.

[0007] As used herein in relation to two or more entities (such as the hoist line paths), the terms “laterally separated” and / or “lateral separation” may refer to any form of offset between the two or more entities in a direction that is perpendicular to the direction of gravity when the apparatus is arranged for use on a vessel. Particular examples of such an arrangement are described elsewhere herein.

[0008] Advantageously, the apparatus allows tension on the hoist lines or cables during deployment and / or recovery to be safely alleviated, because the gravitational force on the payload can be taken up by docking the payload to the launch frame to move the payload to / from the vessel, rather than requiring tension on the hoist cable or line. Accordingly, compared withconventional approaches, it is not necessary to simultaneously operate a component such as a winch along with the movement of the launch frame during deployment and / or recovery, and each of the launch frame and winch can instead be operated sequentially. Furthermore, having two laterally separated hoist line paths can restrict the rotation of the payload and allows the payload to be reliably oriented with respect to the launch frame and / or the water during raising or lowering. Accordingly, safe operability of the system can be improved by the disclosed apparatus. This means operations can take place in more severe conditions without increasing risk, because an operator can solely focus on a single function instead of multiple functions.

[0009] Further advantageously, a winch used to hoist and lower the payload can have a lower line pull, reducing the size of the winch required for a given operation. The term line pull describes the amount of force the winch can exert on a wire that is spooled on the winch. When a hoist can be done with a smaller force, a winch with a lower line pull can be used. With this, also cable diameter can be reduced, which can decrease system costs.

[0010] In some examples, the apparatus comprises at least two hoist lines for lifting a payload, the at least two hoist lines being formed from a single cable.

[0011] Advantageously, using a single cable means that two hoist lines can be supplied without needing to simultaneously control the extension or retraction of two different cables during deployment and / or recovery.

[0012] In some examples, the apparatus comprises a plurality of cables, wherein each cable of the plurality of cables provides at least one hoist line for lifting a payload.

[0013] Advantageously, a two cable approach can reduce the effects of friction associated with a single cable approach, and therefore greater control of the orientation of the payload relative to the horizontal can be achieved. In particular, a single cable approach may in some implementations cause a slight tilt of the payload, which can be removed by using a two cable approach. Such approaches are particularly beneficial for deep water operations.

[0014] In some examples, the apparatus comprises a single winch arranged to control at least two hoist lines for lifting a payload.

[0015] Advantageously, use of a single winch means that two hoist lines can be supplied without needing to simultaneously control two different winch components during deployment and / or recovery.

[0016] In some examples, the apparatus comprises a plurality of winches each arranged to control a respective hoist line of at least two hoist lines for lifting a payload.

[0017] Advantageously, use of a plurality of winches can provide greater control of the orientation of the payload relative to the horizontal.

[0018] In some examples, the docking head comprises at least one guiding sheave arranged to guide a cable through at least one of at least two laterally separated hoist line paths.

[0019] In some examples, the hoist frame comprises at least one guiding sheave arranged to guide at least one hoist line for lifting a payload.

[0020] Advantageously, use of a guiding sheave for guiding the cable improves the levelling of the payload, further improving payload orientation stability during launch and recovery.

[0021] In some examples, the hoist frame comprises a first sheave, a second sheave, and a third sheave, wherein: the first sheave is arranged to guide a cable to the second sheave and the second sheave is arranged to guide the cable to the third sheave; the first sheave and the third sheave are each positioned at least in part along a first axis; and the second sheave is oriented orthogonally to the first and second sheave and is orthogonally offset from the first axis.

[0022] Advantageously, use of a system with at least three sheaves, wherein the middle sheave is horizontal, allows a single cable to be routed around the periphery of the hoist frame, rather than the cable crossing straight over the hoist frame. This allows the hoist frame to be arranged on the payload such that the overall payload footprint is much more compact.

[0023] In some examples, the docking interface comprises two pins.

[0024] Advantageously, providing two pins for docking means that when the hoist frame is docked with the docking head, a rigid connection can be made at two points of attachment. In particular, if the pins are laterally separated along the same axis as the lateral separation of the hoist lines on the docking head, the payload can be locked in place in a manner that restricts swaying of the payload relative to the vessel, thereby preventing, for example, differences in roll motion between the payload and the vessel when deploying off the rear or aft of the vessel, or pitch motion if the apparatus is oriented to deploy off the side of the vessel.

[0025] In some examples, at least one of the two pins has, along a length of the pin, a middle section that has a smaller cross-section than an end section of the pin.

[0026] Advantageously, a pin arranged thus can be held tightly by the docking head, and will be less likely to be accidentally released by the docking head, or released in error.

[0027] In some examples, at least one of the two pins comprises an opening for receiving a hoist line for lifting a payload.

[0028] Advantageously, alignment of a hoist line with a pin improves alignment of the payload with the docking head when pulling in or releasing the payload, and reduces possible rotational freedom of the payload when pulling in or releasing the payload.

[0029] In some examples, the docking head further comprises a receiving unit for receiving the hoist frame.

[0030] Advantageously, such a receiving unit can provide improved stability, retention strength, and reliability of docking of the hoist frame to the docking head.

[0031] In some examples, the receiving unit comprises at least one clamp arranged to be hydraulicly actuated, the at least one clamp being arranged to receive at least one pin of the docking interface.

[0032] In some examples, the receiving unit comprises a damping mechanism arranged to damp rotational motion around an axis orthogonal to the laterally separated hoist line paths.

[0033] Advantageously, as the hoist frame is pulled in to the docking head, pitch / roll motion (depending on the orientation of the launch frame on the vessel) differences between the payload and the vessel can be dampened, restricting undesirable rotation of the payload and improving the stability of the docking.

[0034] Also disclosed is a launch and recovery system for deploying a payload from a deck of a vessel, the launch and recovery system comprising: the apparatus of any preceding claim; and a launch frame arranged to move a payload from a stowed position to a deploy position, wherein the docking head is coupled to the launch frame.

[0035] In some examples, the launch frame comprises an A-frame.

[0036] Advantageously, the apparatus disclosed herein improves stability and reliability of deployment such that it enables an A-frame to be used more reliably for operations (such as deployment of heavy payloads) that would conventionally have used a moonpool for ensuring stability of the payload. The apparatus can therefore improve the operational versatility of vessels with A-frames, and can enable the use of A-frames for scenarios in which it is counter-intuitive to use an A-frame. It is counter-intuitive to use an A-frame for scenarios such as heavy payload deployment because typically moonpools are seen as preferable for reducing the possible sway of the payload and for not requiring the synchronization of components required by a conventional A-frame.

[0037] Also disclosed is a method of deploying a payload from a vessel using the launch and recovery system, the method comprising: attaching the hoist frame to the docking head, wherein the hoist frame is coupled to the payload; moving, using the launch frame, the payload from a stowed position to a deploy position, wherein at least two hoist lines coupled to the payload are slack during the movement; upon reaching the deploy position, applying tension to the at least two hoist lines; and deploying the payload, wherein deploying the payload comprises releasing the hoist frame from the docking head.

[0038] Also disclosed is a method of recovering a payload by a vessel using the launch and recovery system, the method comprising: applying tension to at least two hoist lines to lift the payload; attaching the hoist frame to the docking head, wherein the hoist frame is coupled to the payload; and moving, using the launch frame, the payload from a recovery position to a stowed position, wherein at least two hoist lines coupled to the payload are slack during the movement.

[0039] In some examples, the method of recovering a payload comprises the method of deploying a payload. For example, each method may be applied to the same payload for deployment and recovery.

[0040] Also disclosed is a method of moving a payload by a vessel using a launch and recovery system, the method comprising: moving, using a launch frame of the launch and recovery system, the payload from a first position to a second position, wherein the payload is coupled to a docking head of the launch frame, and wherein at least two hoist lines coupled to the payload are slack during the movement.

[0041] Each method is contrary to conventional approaches, for which it is usually considered that tension should be especially applied to a cable during launch and recovery in order to keep the payload stable and restrict undesirable swaying or rotation near or on the vessel.

[0042] The methods disclosed herein may be performed by one or more computing devices. Accordingly, one or more computing devices configured to perform any of the methods disclosed herein is provided. Further, a computer program comprising instructions which, when the program is executed by one or more computing devices, cause the one or more computing devices to carry out any of the methods disclosed herein is provided. Further, a computer-readable medium comprising instructions which, when executed by one or more computing devices, cause the one or more computing devices to carry out any of the methods disclosed herein is provided.

[0043] The term “apparatus” as used herein may refer to either a single apparatus or plural apparatus and should not be understood as being particularly limited to either a single discrete apparatus or a plurality of discrete apparatus unless a particular apparatus is further described as such.

[0044] The term “offshore” herein 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. Likewise, the term “vessel” as used herein is understood to encompass vessels for use offshore.

[0045] The term “deck” in the present disclosure is defined as any upward facing surface of the vessel. 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 a launch and recovery system.

[0046] The terms “launch frame” and “payload launch frame” are used interchangeably in some instances herein.

[0047] The term “hoist frame” may be used to refer to apparatus that may also be considered as a “payload hoist frame” and that is integrated into a payload and / or is arranged to be mechanically coupled to a payload. The term “hoist frame” may be used to refer to a separate apparatus which is (removably) attached to a payload, such that various payloads may be interchanged. In an implementation the hoist frame is (removably) coupled and / or integrally formed with a payload.

[0048] The term “hoist line” may be used herein to refer to a particular load-bearing line, or portion, of a cable.

[0049] In each of the examples herein, the payload to be deployed and / or recovered may be a seabed frame. However, it will be appreciated that the examples disclosed herein are applicable to various types of vessel payloads, such as for seabed cone penetration testing work. The approaches disclosed herein are particularly beneficial for payloads that are not radially symmetrical, because orientation of the payload can be controlled in an improved manner.

[0050] The above mentioned and other features and advantages of the disclosure will be best understood from the following description referring to the attached drawings. In the drawings, like reference numerals denote identical parts or parts performing an identical or comparable function or operation.BRIEF DESCRIPTION OF THE DRAWINGS

[0051] 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 examples thereof which are illustrated in the appended drawings. Understanding that these drawings depict only examples 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:

[0052] FIG. 1 shows a schematic drawing of a launch and recovery system for deploying a payload from a vessel;

[0053] FIG. 2 shows a docking head for a launch and recovery system;

[0054] FIG. 3 shows another example of a docking head for a launch and recovery system;

[0055] FIG. 4 shows a hoist frame for a payload;

[0056] FIG. 5 shows the hoist frame attached to a payload;

[0057] FIG. 6 shows a launch and recovery system for deploying a payload from a vessel;

[0058] FIG. 7 shows a top-down view of the launch and recovery system of FIG. 6;

[0059] FIG. 8 shows a cross-section of a receiving unit comprising a clamp in an open position;

[0060] FIG. 9 shows a cross-section of the receiving unit comprising the clamp in a closed position;

[0061] FIG. 10 shows a method of deploying a payload;

[0062] FIG. 11 shows a method of recovering a payload; and

[0063] FIG. 12 shows a schematic diagram of a computing device that can be used to implement the methods of the present disclosure.DETAILED DESCRIPTION

[0064] Examples contemplated by the present disclosure will now be described in more detail with reference to the accompanying drawings. The disclosed subject matter should not be construed as limited to only the embodiments set forth herein. Rather, the illustrated embodimentsare provided by way of example to convey the scope of the subject matter to those skilled in the art.

[0065] FIG. 1 shows a schematic drawing of a launch and recovery system (LARS) 101 for deploying a payload from a vessel 100. The LARS 101 is mounted on a deck 102 of the vessel. In the example of Fig. 1 , the LARS 101 is mounted at the aft of the vessel 100 for deployment and recovery off the aft, but in each of the examples herein, a LARS may be mounted at any suitable point on a vessel, such as at the side of a vessel.

[0066] The LARS 101 comprises two legs 103, 104 which support a crossbeam 105 above the deck 102. The two legs 103, 104 and crossbeam 105 form at least part of an A-frame, and may be considered to be a payload launch frame of the LARS. These structures typically consist of two legs connected by a lateral strut or beam 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 deployed sufficiently far away from the vessel, for safety purposes.

[0067] A payload 107 may be suspended or hung from the crossbeam 105 using a cable 109 and suitable attachment. The LARS 101 may be rotated and / or extended relative to the deck using a corresponding rotation mechanism 111 , 113 at each leg 103, 104. The LARS 101 may thus be rotated to position the crossbeam 105 either over the deck 102 or over the water on which the vessel 100 floats. Moving the crossbeam 105 will move the payload 107, and the payload can thus be appropriately positioned for deployment into the water or stowage on deck.

[0068] By extending or retracting the cable 109, the payload 107 can be lowered into the water or raised out of the water (or lowered or raised from the deck). In conventional approaches, during rotation or extension of the LARS 101 to move the crossbeam 105, the cable 109 must be correspondingly extended or retracted in a synchronized manner in order to move the payload 107 with the crossbeam 105. As described above, such synchronization can be challenging to implement.

[0069] FIG. 2 shows a docking head 200 for a launch and recovery system. The docking head 200 comprises a fixing interface arranged to be coupled to a payload launch frame. In some examples, the fixing interface is arranged to be rigidly coupled to the payload launch frame. The fixing interface may be arranged to be coupled to a crossbeam of a LARS A-frame such as the crossbeam 105 of Fig. 1. Additionally or alternatively, the fixing interface may be arranged to couple to a payload launch frame, such as an A-frame, such that the docking head 200 forms an integral part of the payload launch frame and / or LARS, which may be formed in or as the crossbeam. In the non-limiting example of Fig. 2, three fixing points 201 , 202, 203 are provided that may be rigidly attached to a crossbeam of a LARS A-frame. However, it will be understoodthat the fixing interface may take any suitable form for fixing, attaching, coupling, mounting, and / or integrating the docking head 200 onto a payload launch frame.

[0070] The docking head 200 is arranged to define at least two laterally separated hoist line paths, each hoist line path being arranged to accommodate at least part of a respective hoist line for lifting a payload. In this manner, hoist lines may be provided from a vessel to a payload via at least one of the docking head 200 and a payload launch frame. When the docking head is arranged on or as part of the launch frame, the lateral separation of the hoist line paths may be in a direction parallel with an axis running through the length of a crossbeam of the launch frame. Fig. 7 shows an exemplary LARS 600 on which such an axis is marked with a line running from A to B.

[0071] In the example of Fig. 2, the docking head 200 comprises a mechanical frame or cage 204 that contains two sheaves 205, 207, each of which may be considered to be a guiding sheave. Each sheave 205, 207 may be arranged to accommodate a cable or part of a cable and thus at least partly define a hoist line path. In other examples, more than two, or one, or zero sheaves may be used. For example, the frame 204 may instead be arranged with simple laterally separated holes through which a respective hoist line may run. Whatever configuration is used, at least two hoist lines can run through the respective hoist line paths of the docking head 200 and be coupled to the payload on one end of each hoist line and coupled to a component of the vessel such as a winch on the other end of each hoist line. The hoist lines can thus be used for lifting and / or lowering a payload with respect to the docking head, such as during deployment and / or recovery operations.

[0072] Each hoist line may be provided by a respective separate cable, or alternatively, a single cable may be used to provide two hoist lines by, for example, looping the single cable around the payload.

[0073] Also shown in FIG. 2 are two receiving units 208, 212 which in this example are each based on a clamp. In some examples, the two clamps may together be considered to correspond to a single “receiving unit” of the docking head 200 such that the docking head 200 is considered to comprise a single receiving unit rather than two receiving units.

[0074] In some examples, the receiving units 208, 212 each comprise a receiving portion 209, 211 arranged to abut and / or facilitate docking with a payload or a hoist frame for a payload such as those described herein. Each receiving portion 209, 211 may be flanged in order to better receive the payload or hoist frame.

[0075] In some examples, at least one clamp is hydraulically actuated, and an exemplary hydraulic cylinder 210 is shown in FIG. 2. Each of the receiving units 208, 211 of the docking head 200 may be arranged as part of a respective hoist line path, and may be arranged to accommodate a respective hoist line such that a hoist line can be provided to the payload extending from each respective sheave 205, 207 through each respective receiving portion 209, 211.

[0076] In some examples, the receiving units 208, 212 may have a corresponding lateral separation along a direction parallel to the length of the crossbeam (as indicated by the line marked A-B in Fig. 7) as that of the lateral separation of the two hoist line paths of the docking head.

[0077] FIG. 3 shows another example of a docking head 250 for a launch and recovery system. The docking head 250 of FIG. 3 is similar to that of FIG. 2 and has some common components 201 , 202, 203, 205, 207, 208, 209, 210, 211 , 212, although the sheave 207 is not shown in FIG. 3.

[0078] The example docking head 250 of FIG. 3 is particularly beneficial for examples in which the apparatus comprises at least two hoist lines for lifting a payload, the at least two hoist lines being formed from a single cable. Compared with the docking head 200 of FIG. 2, the docking head 250 of FIG. 3 comprises a third sheave 251. The mechanical frame or cage 254 of the docking head 250 is adapted to hold the third sheave 251 , and the at least two hoist line paths are thus differently defined compared with the example of FIG. 2.

[0079] In the example of FIG. 3, a single cable 253 may enter the cage 254 and pass around the third sheave 251. The third sheave 251 is oriented horizontally (orthogonal to the other two sheaves 205, 207) and is placed between the other two sheaves 205, 207. The cable 253 is guided, or routed, by the third sheave 251 to one of the other two sheaves 205, 207, where it is guided or routed downwards towards the payload. The cable 253 may then be looped around the payload in a suitable manner, such as with comparable or corresponding lateral separation as that of the laterally separated hoist line paths within the docking head 250, before returning upwards to the other of the other two sheaves 205, 207. In this manner, a single cable 253 appropriately routed through two defined hoist line paths can provide two laterally separated hoist lines for lifting a payload.

[0080] Whichever arrangement of docking head is used, in some examples, the docking head comprises at least one guiding sheave arranged to guide a cable through at least one of at least two laterally separated hoist line paths.

[0081] It will be understood that whatever arrangement of docking head is used, a hoist line path may be defined by any suitable form of mechanical guidance, routing, and / or separation of a cable through the docking head, and that lateral separation of two hoist line paths may be likewise achieved. Similarly, in some examples, a given hoist line path may be considered to be defined only by a mechanical frame or cage along with a sheave, while in other examples, the hoist line path may also be defined by a receiving unit of the docking head, and / or by another component.

[0082] FIG. 4 shows a hoist frame 400 for a payload that together with at least one of the docking heads 200, 250 of FIGS. 2 or 3 can form apparatus for deploying a payload from a vessel.

[0083] The hoist frame 400 comprises a docking interface arranged to be releasably attached to the docking head, wherein the hoist frame is arranged to accommodate, at least in part, at leasttwo laterally separated hoist lines for lifting a payload. As noted above, the two laterally separated hoist lines may be formed of a single cable or of a respective cable of a plurality of cables.

[0084] In the example of FIG. 4, the hoist frame 400 comprises a docking interface comprising two pins 401 , 403. Those pins 401 , 403 may be received by respective receiving units 208, 212 on the docking head. However, it will be understood that other arrangements may be used. For example, the docking head may instead comprise pins like those of FIG. 4 and the docking interface of the hoist frame may instead comprise clamp-based receiving units like those of FIGS. 2 and 3. Any suitable arrangement that allows the hoist frame to be releasably attached, or secured, or locked, or fastened, or mounted, or coupled to the docking head, may be used.

[0085] In some examples, the pins may have a corresponding lateral separation along a direction parallel to the length of the crossbeam (as indicated by the line marked A-B in Fig. 7) as that of the lateral separation of the two hoist line paths of the docking head and the receiving unit(s) of the docking head, such that the pins align with the receiving unit(s) and the hoist line paths when the hoist frame 400 is releasably attached to a docking head.

[0086] In some examples, the hoist frame comprises at least one guiding sheave arranged to guide at least one hoist line for lifting a payload. In the example of FIG. 4, the hoist frame comprises a first sheave 405, a second sheave 409, and a third sheave 407, each of which may be considered to be a guiding sheave. The sheaves may optionally be held within a mechanical frame or cage 404. The first sheave 405 is arranged to guide a cable 253 to the second sheave 409 and the second sheave 409 is arranged to guide the cable to the third sheave 407. The first sheave and the third sheave are each positioned at least in part along a first axis; and the second sheave is oriented orthogonally to the first and second sheave and is orthogonally offset from the first axis. The mechanical frame or cage 404 has a curved shape to follow the layout of the sheaves 405, 407, 409.

[0087] Advantageously, the layout of the sheaves 405, 407, 409 described above, along with the curved shape of the mechanical frame or cage 404, allows the hoist frame to be fitted to or integrated with a payload in a compact manner. The hoist frame 400 may be rigidly attached or coupled to the payload at fixing points 411 , 413, or using any other suitable manner.

[0088] In some examples in which two or more separate cables are used to form two or more hoist lines, the cables may be attached directly to the hoist frame 400, and the hoist frame 400 need not comprise any sheaves at all.

[0089] In some examples, at least one of the two pins 401 , 403 comprises an opening 415 for receiving a hoist line for lifting a payload. In some such examples, the hoist line can be routed into and / or through the pin for being secured to the payload. For example, a single cable 253 forming the hoist lines may enter a first pin 401 , be routed by the sheaves 405, 407, 409 of the hoist frame 400, and exit a second pin 403 to return to the docking head.

[0090] FIG. 5 shows the hoist frame 400 of FIG. 4 attached to a payload 500. As can be seen in FIG. 5, part 500a of the payload 500 extends above the lower part of the hoist frame 400, andoccupies space left vacant by the arrangement of the sheaves 405, 407, 409 and curved cage 404. Accordingly, the combination of the payload and hoist frame can be made more compact, taking up less volume on the vessel.

[0091] FIG. 6 shows a launch and recovery system (LARS) 600 for deploying a payload from a vessel that makes use of the docking head(s) and hoist frame(s) of the present disclosure. The LARS 600 comprises a launch frame 601 arranged to move a payload from a stowed position to a deploy position, wherein the docking head is coupled to the launch frame 601 . The launch frame 601 comprises a crossbeam 610 spanning a gap between two parallel legs 620, 630. The launch frame 601 may be attached to the deck of a vessel in a similar manner to the LARS of FIG. 1 , and has corresponding rotation mechanisms 111 , 113. In some examples, the launch frame of the LARS 600 comprises an A-frame.

[0092] In the example of FIG. 6, the docking head 250 of FIG. 3 is shown coupled to and / or integrated with the crossbeam 610 of the launch frame 601. In this example, the docking head 250 is shown arranged such that the lateral separation of the hoist line paths defined by the docking head 250 is along the crossbeam, and is particularly along the line A-B shown in FIG. 7.

[0093] In the example of FIG. 6, a single cable 253 attached to a single winch 650 extends from the winch 650 to the launch frame 601 , where it is guided and / or routed into two hoist line paths to form two hoist lines 253a, 253b by the apparatus comprising the docking head 250 and the hoist frame 400, as described above. The single winch 650 may, like the launch frame 601 , be attached to the deck of a vessel. As described elsewhere herein, the two hoist lines 253a, 253b are for lifting, raising, or lowering the hoist frame 400 and thus the payload 500.

[0094] In some examples, the apparatus for deploying a payload comprises a single winch arranged to control at least two hoist lines for lifting a payload. In some alternative or additional examples, the apparatus for deploying a payload comprises a plurality of winches each arranged to control a respective hoist line of at least two hoist lines for lifting a payload. For example, rather than the single winch 650 and single cable 253 of FIG. 6, the two hoist lines 253a, 253b could be formed from two respective separate cables connected to separate winches. Whichever configuration is used, the winch(es) can be used to apply or relieve tension to one or more hoist lines, and / or to extend or retract one or more hoist lines to move the payload accordingly. The winch(es) may each be attached and / or coupled to the deck of a vessel.

[0095] The LARS 600 of FIG. 6 can be used for deploying and / or recovering a payload in an improved manner as described above.

[0096] FIG. 7 shows a top-down view of the launch and recovery system of FIG. 6 from above, i.e. the deck of a vessel may be underneath the LARS 600. The launch frame 601 is shown in a configuration in which it is arranged at an angle relative to a deck of a vessel in order to extend the crossbeam 610 over the water, as also shown in FIG. 6 and FIG. 1 .

[0097] In FIG. 7, an axis running through the crossbeam of the launch frame 601 is marked with a line running from A to B. Advantageously, the dual line (two hoist line) approachesdisclosed herein can restrict rotational motion of the payload in relation to this axis and control horizontal orientation of the payload in relation to this axis. For example, if the LARS 600 is arranged to deploy off the rear or aft of a vessel, the dual line approaches disclosed herein can be used to restrict roll motion of the payload relative to the vessel. If the LARS 600 is arranged to deploy off the side of a vessel, the dual line approaches disclosed herein can be used to restrict pitch motion of the payload rather than roll motion. Accordingly, the approaches disclosed herein can restrict the degrees of freedom of motion for a payload during launch and / or recovery.

[0098] FIG. 8 shows a cross-section of further detail of an exemplary receiving unit 208 for a docking head (such as the docking head 200, 250 of FIGS. 2 and 3), the receiving unit 208 comprising a clamp which is shown in an open position. A pin 401 such as those described above in relation to FIG. 4 is shown within the receiving unit 208, and part of the hoist frame 404 is shown. In this example, clamp components 801 , 802 of the clamp are arranged either side of a volume for receiving the pin and are hydraulically controllable to engage the pin in order to lock it in place, thereby docking the hoist frame 400 to the docking head.

[0099] FIG. 9 shows the receiving unit 208 of FIG. 8 with the clamp in a closed position. The pin 401 itself is not shown in FIG. 9, but the volume 901 for receiving the pin 401 is shown.

[0100] The clamp components 801 , 802 may be hydraulically controlled using a cylinder such as the cylinder 210 of FIG. 2. The clamp components 801 , 802 may thus be pushed towards (as shown in FIG. 9) or pulled away from (as shown in FIG. 8) the volume 901 by using hydraulic pressure.

[0101] With the clamp in the closed position shown in FIG. 9, the pin 401 will be fully engaged by the clamp components 801 , 802. The clamp components 801 , 802 in the position shown in FIG. 9 are positioned to hold the pin 401 in place within the volume 901 , unlike the position shown in FIG. 8.

[0102] As the hoist frame is pulled into the docking head, the pin 401 will enter the receiving volume 901 as shown in FIG. 8 and the clamp components 801 , 802 may then close, as shown in FIG. 9, around the pin to secure the pin and attach the hoist frame to the docking head. When required, the clamp components 801 , 802 can subsequently be retracted again to the position shown in FIG. 8 to release the pin 401 from the volume 901 and thereby release the hoist frame from the docking head.

[0103] The pin 401 may be circular in cross-section and the clamp components 801 , 802 may be likewise curved to fit the diameter of the pin, ensuring a tight clamp.

[0104] In some examples, at least one of the two pins of the hoist frame and / or docking head has, along a length of the pin, a middle section that has a smaller cross-section than an end section of the pin. This middle section is shown in FIG. 8 in an exemplary manner with a doubleheaded arrow 805 that spans the diameter of the pin 401. A correspondingly-shaped middle section of the volume 901 is positioned between the clamp components 801 , 802 when the clamp components 801 , 802 are in the closed position, as shown in FIG. 9 with a double-headed arrow905. It can be seen that the middle section of the pin 401 is narrower than an upper end section of the pin 401 that is towards the opening 415. Accordingly, as the pin 401 is held by the clamp components 801 , 802, around the middle section indicated by the arrow 805, the gravitational force of the larger end section of the pin pushes downward on the clamp components 801 , 802, meaning that the pin is less likely to slip out, even in cases of failure of the hydraulic control.

[0105] Furthermore, in a further example, the pin 401 may also have a barbed edge 807, 809. The barbed edge 807, 809 is shown in FIG. 8 as two separate parts, but may be a single continuous edge extending around the circumference of a circular or cylindrical pin. Using a pin with a barb configuration such as this means that the stronger gravity is, the more difficult it is to pull the pin out of the clamp, thereby improving the reliability of the attachment of the docking head and the hoist frame 400.

[0106] The shape of the clamp components 801 , 802 may also, in some examples, be formed with a downward angle that matches the angle in the barbed edge 807, 809 of the pin 401 , and can thereby make sure the pin cannot ’wiggle’ out of the clamp blocks. FIG. 9 is shown with correspondingly-shaped receiving portions 907, 909, which are shaped to receive the barbed edge 807, 809 of the pin 401 when the clamp components 801 , 802 are in the closed position.

[0107] In some examples, there is an accumulator in the apparatus that will make sure that when the clamp components 801 , 802 are in the closed position, they will not be able to open and / or retract even when hydraulic pressure is lost.

[0108] In some examples, the receiving unit 208 comprises a damping mechanism arranged to damp rotational motion of the hoist frame around an axis orthogonal to the laterally separated hoist line paths. The damping mechanism may be arranged to use hydraulic cylinders to damp rotational motion of the hoist frame. Advantageously, such apparatus may be used to dampen rotation of the payload on the hoist lines as the payload or hoist frame is being brought in towards the docking head for attachment / docking, thereby improving the security of attachment. Pitch / roll motion (depending on the orientation of the launch frame on the vessel) differences between the payload and the vessel can be thereby be dampened, restricting undesirable rotation of the payload and improving the stability of the docking. For example, referring to FIG. 7, if the LARS 600 is arranged to deploy from the aft of the vessel, the payload may have its roll motion restricted by the two hoist lines, but would be free to undergo pitch rotation with respect to the vessel if not for a damping mechanism. The damping mechanism therefore can restrict pitch rotation of the payload. For deployment off the side of a vessel, the orientation relative to the vessel is changed such that the roll and pitch rotations are effectively stop - the hoist lines may be used to restrict pitch rotation of the payload relative to the vessel pitch and the damping mechanism may be arranged to dampen and / or restrict roll rotation of the payload relative to the vessel.

[0109] In some examples, the damping mechanism may be arranged not to provide any damping when the hoist frame is not attached to the docking head, such that the payload mayhave suspension freedom and may be free to pitch and / or roll (depending on the orientation of the LARS with respect to the vessel).

[0110] Any suitable mechanical and / or hydraulic arrangement may be used for the damping mechanism.

[0111] In some examples, a respective receiving unit as described above in relation to FIGS. 8 and 9 is used to receive each pin 401 , 403 of the hoist frame. In other examples, the pin(s) may be provided on the docking head 200, 250 and the receiving unit(s) may be provided on the hoist frame. In yet other examples, a pin and a receiving unit may be provided on each of the hoist frame and docking head, such that a pin of the hoist frame is received by a receiving unit on the docking head and a pin of the docking head is received on a receiving unit of the hoist frame.

[0112] It will be appreciated that the examples described in relation to FIGS. 8 and 9 may also be used for the receiving unit 212 of FIGS. 2 and 3.

[0113] FIG. 10 shows a method of deploying a payload. The method may be performed using the LARS of FIGS. 6 and 7, or a LARS comprising a docking head and hoist frame as described herein as well as a launch frame arranged to move a payload from a stowed position to a deploy position, wherein the docking head is coupled to the launch frame.

[0114] At a first block 1001 , the method comprises attaching the hoist frame to the docking head, wherein the hoist frame is coupled to the payload.

[0115] At a second block 1003, the method comprises moving, using the launch frame, the payload from a stowed position to a deploy position, wherein at least two hoist lines coupled to the payload are slack during the movement.

[0116] At a third block 1005, the method comprises, upon reaching the deploy position, applying tension to the at least two hoist lines.

[0117] At a fourth block 1007, the method comprises deploying the payload, wherein deploying the payload comprises releasing the hoist frame from the docking head.

[0118] FIG. 11 shows a method of recovering a payload. The method may be performed using the LARS of FIGS. 6 and 7, or a LARS comprising a docking head and hoist frame as described herein as well as a launch frame arranged to move a payload from a stowed position to a deploy position, wherein the docking head is coupled to the launch frame.

[0119] At a first block 1101 , the method comprises applying tension to at least two hoist lines to lift the payload.

[0120] At a second block 1103, the method comprises attaching the hoist frame to the docking head, wherein the hoist frame is coupled to the payload.

[0121] At a third block 1105, the method comprises moving, using the launch frame, the payload from a recovery position to a stowed position, wherein at least two hoist lines coupled to the payload are slack during the movement.

[0122] In some examples, the method of FIG. 10 may further comprise the method of FIG. 11 . For example, each method may be applied to the same payload for deployment and recovery.

[0123] Also disclosed is a method of moving a payload by a vessel using a launch and recovery system, the method comprising: moving, using a launch frame of the launch and recovery system, the payload from a first position to a second position, wherein the payload is coupled to a docking head of the launch frame, and wherein at least two hoist lines coupled to the payload are slack during the movement.

[0124] The methods of FIGS. 10 and / or 11 , as well as all other methods disclosed herein, may in some implementations be performed autonomously, such as by one or more computing devices. FIG. 12 shows an example computing device 1200 suitable for carrying out part or all of the methods described above.

[0125] FIG. 12 shows a block diagram of one implementation of a processing system 1200 in the form of a computing device within which a set of instructions for causing the computing device to perform any one or more of the methodologies discussed herein may be executed. In alternative implementations, the computing device may be connected (e.g., networked) to other machines in a Local Area Network (LAN), an intranet, an extranet, or the Internet. The computing device may operate in the capacity of a server or a client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), a tablet computer, a set-top box (STB), a Personal Digital Assistant (PDA), a cellular telephone, a web appliance, a server, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single computing device is illustrated, the term “computing device” shall also be taken to include any collection of machines (e.g., computers) that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein.

[0126] The example processing system 1200 includes a processor 1202, a main memory 1204 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 1206 (e.g., flash memory, static random access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 1218), which communicate with each other via a bus 1230.

[0127] Processor 1202 represents one or more general-purpose processors such as a microprocessor, central processing unit, or the like. More particularly, the processor 1202 may be a complex instruction set computing (CISC) microprocessor, reduced instruction set computing (RISC) microprocessor, very long instruction word (VLIW) microprocessor, processor implementing other instruction sets, or processors implementing a combination of instruction sets. Processor 1202 may also be one or more special-purpose processors such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), network processor, or the like. Processor 1202 is configured to execute the processing logic (instructions 1222) for performing the operations and steps discussed herein.

[0128] The processing system 1200 may further include a network interface device 1208. The processing system 1200 also may include a video display unit 1210 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 1212 (e.g., a keyboard or touchscreen), a cursor control device 1214 (e.g., a mouse or touchscreen), and an audio device 1216 (e.g., a speaker).

[0129] It will be apparent that some features of the processing system 1200 shown in FIG. 12 may be absent. For example, the processing system 1200 may have no need for display device 1210 (or any associated adapters). This may be the case, for example, for particular server-side computer apparatuses which are used only for their processing capabilities and do not need to display information to users. Similarly, user input device 1212 may not be required. In its simplest form, processing system 1200 comprises processor 1202 and main memory 1204.

[0130] The data storage device 1218 may include one or more machine-readable storage media (or more specifically one or more non-transitory computer-readable storage media) 1228 on which is stored one or more sets of instructions 1222 embodying any one or more of the methodologies or functions described herein. The instructions 1222 may also reside, completely or at least partially, within the main memory 1204 and / or within the processor 1202 during execution thereof by the processing system 1200, the main memory 1204 and the processor 1202 also constituting computer-readable storage media 1228.

[0131] The various methods described above may be implemented by a computer program. The computer program may include computer code arranged to instruct one or more computing devices to perform the functions of one or more of the various methods described above. The computer program and / or the code for performing such methods may be provided to an apparatus, such as a computer, on one or more computer readable media or, more generally, a computer program product. The computer readable media may be transitory or non-transitory. The one or more computer readable media could be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or a propagation medium for data transmission, for example for downloading the code over the Internet. Alternatively, the one or more computer readable media could take the form of one or more physical computer readable media such as semiconductor or solid state memory, magnetic tape, a removable computer diskette, a random access memory (RAM), a read-only memory (ROM), a rigid magnetic disc, and an optical disk, such as a CD-ROM, CD-R / W or DVD.

[0132] The computer program is executable by the processor 1202 to perform functions of the systems and methods described herein.

[0133] In an implementation, the modules, components, and other features described herein can be implemented as discrete components or integrated in the functionality of hardware components such as ASICS, FPGAs, DSPs, or similar devices.

[0134] A “hardware component” is a tangible (e.g., non-transitory) physical component (e.g., a set of one or more processors) capable of performing certain operations and may be configuredor arranged in a certain physical manner. A hardware component may include dedicated circuitry or logic that is permanently configured to perform certain operations. A hardware component may be or include a special-purpose processor, such as a field programmable gate array (FPGA) or an ASIC. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0135] Accordingly, the phrase “hardware component” should be understood to encompass a tangible entity that may be physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein.

[0136] In addition, the modules and components can be implemented as firmware or functional circuitry within hardware devices. Further, the modules and components can be implemented in any combination of hardware devices and software components, or only in software (e.g., code stored or otherwise embodied in a machine-readable medium or in a transmission medium).

[0137] The preceding detailed description is merely exemplary in nature and is not intended to limit the disclosure and its uses. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the detailed description.

[0138] Examples of the present disclosure may be described herein in terms of functional and / or logical block components and various processing steps. It should be appreciated that such block components may be realised by any number of hardware, software, and / or firmware components configured to perform the specified functions. For example, an example of the present disclosure may employ various integrated circuit components, e.g., memory elements, digital signal processing elements, logic elements, look-up tables, or the like, which may carry out a variety of functions under the control of one or more microprocessors or other control devices. In addition, those skilled in the art will appreciate that examples of the present disclosure may be practised in conjunction with any number of systems, and that the systems described herein are merely exemplary embodiments of the present disclosure.

[0139] For the sake of brevity, conventional techniques compared to signal processing, data transmission, signalling, control and other functional aspects of the systems (and the individual operating components of the systems) may not be described in detail herein. Furthermore, the connecting lines shown in the various figures contained herein are intended to represent example functional relationships and / or physical couplings between the various elements. It should be noted that many alternative or additional functional relationships or physical connection may be present in an example of the present disclosure.

[0140] Those skilled in the art will recognise that a wide variety of modifications, alterations, and combinations can be made with respect to the above described examples without departingfrom the scope of the disclosed concepts, and that such modifications, alterations, and combinations are to be viewed as being within the ambit of the disclosed concepts.

[0141] 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 examples have been described, these are examples only and are not limiting upon the scope of the invention.

Claims

CLAIMS1. Apparatus for deploying a payload from a vessel, the apparatus comprising: a docking head comprising: a fixing interface arranged to be coupled to a payload launch frame, the docking head being arranged to define at least two laterally separated hoist line paths, each hoist line path being arranged to accommodate at least part of a respective hoist line for lifting a payload; and a hoist frame comprising: a docking interface arranged to be releasably attached to the docking head, wherein the hoist frame is arranged to accommodate, at least in part, at least two laterally separated hoist lines for lifting a payload.

2. The apparatus of claim 1 , wherein the apparatus comprises at least two hoist lines for lifting a payload, the at least two hoist lines being formed from a single cable.

3. The apparatus of any preceding claim, wherein the apparatus comprises a plurality of cables, wherein each cable of the plurality of cables provides at least one hoist line for lifting a payload.

4. The apparatus of any preceding claim, wherein the hoist frame comprises a first sheave, a second sheave, and a third sheave, wherein: the first sheave is arranged to guide a cable to the second sheave and the second sheave is arranged to guide the cable to the third sheave; the first sheave and the third sheave are each positioned at least in part along a first axis; and the second sheave is oriented orthogonally to the first and second sheave and is orthogonally offset from the first axis.

5. The apparatus of any preceding claim, wherein the docking interface comprises two pins.

6. The apparatus of claim 5, wherein at least one of the two pins has, along a length of the pin, a middle section that has a smaller cross-section than an end section of the pin7. The apparatus of any preceding claim, wherein the docking head comprises a receiving unit, the receiving unit comprising at least one clamp arranged to be hydraulicly actuated, the at least one clamp being arranged to receive at least one pin of the docking interface.

8. The apparatus of any preceding claim, wherein the docking head comprises a receiving unit, the receiving unit comprising a damping mechanism arranged to damp rotational motion around an axis orthogonal to the laterally separated hoist line paths.

9. A launch and recovery system for deploying a payload from a deck of a vessel, the launch and recovery system comprising: the apparatus of any preceding claim; and a launch frame arranged to move a payload from a stowed position to a deploy position, wherein the docking head is coupled to the launch frame.

10. The launch and recovery system of claim 9, wherein the launch frame comprises an A- frame.

11. Method of deploying a payload from a vessel using the launch and recovery system of claim 9 or claim 10, the method comprising: attaching the hoist frame to the docking head, wherein the hoist frame is coupled to the payload; moving, using the launch frame, the payload from a stowed position to a deploy position, wherein at least two hoist lines coupled to the payload are slack during the movement; upon reaching the deploy position, applying tension to the at least two hoist lines; and deploying the payload, wherein deploying the payload comprises releasing the hoist frame from the docking head.

12. Method of recovering a payload by a vessel using the launch and recovery system of claim 9 or claim 10, the method comprising: applying tension to at least two hoist lines to lift the payload; attaching the hoist frame to the docking head, wherein the hoist frame is coupled to the payload; and moving, using the launch frame, the payload from a recovery position to a stowed position, wherein at least two hoist lines coupled to the payload are slack during the movement.

13. The method of claim 11 , comprising the method of claim 12.

14. Method of moving a payload by a vessel using a launch and recovery system, the method comprising: moving, using a launch frame of the launch and recovery system, the payload from a first position to a second position, wherein the payload is coupled to a docking head of the launch frame, and wherein at least two hoist lines coupled to the payload are slack during the movement.

15. One or more computing devices configured to perform the method of any of claims 11 to 14; or a computer program comprising instructions which, when the program is executed by one or more computing devices, cause the one or more computing devices to carry out the method of any of claims 11 to 14; or a computer-readable medium comprising instructions which, when executed by one or more computing devices, cause the one or more computing devices to carry out the method of any of claims 11 to 14.

Images