• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    method for suspending a payload from an underwater location, system for recovering a payload from an underwater location and surface vessel. the present invention relates to an underwater payload (22), such as an auv or auv garage that is suspended from an underwater location by launching a closure unit (38) through the water in the cargo useful (22). the closing unit (38) leads a suspension cable (20) towards the payload (22). the closure unit (38) is then attached to the payload (22) and the payload (22) is suspended using voltage applied via the suspension cable (20) through the closure unit (38). the closure unit (38) can also be used on a suspension cable (20) to lower a payload (22) and then release the payload (22) in an underwater location. the suspension cable (20) is supported by a compensating hoist winch - (12) on a surface vessel that performs the z-axis movement of the closing unit (38). the winch (12) maintains tension on the suspension cable (20) to prevent the suspension cable (20) from falling over the payload (22).
    公开号:BR112014011623B1
    申请号:R112014011623-7
    申请日:2012-11-15
    公开日:2021-04-06
    发明作者:James Andrew Jamieson；Graham Gibbons；Lee Wilson
    申请人:Subsea 7 Limited；
    IPC主号:
    专利说明:

    [0001] [001] The present invention relates to the distribution and recovery of payloads to and from underwater locations, which includes the seabed and intermediate water locations. The present invention has particular application in launch and recovery systems (LARS) for submersible vehicles used in deep water engineering operations, such as autonomous and underwater vehicles (AUVs).
    [0002] [002] An example of LARS for an AUV is described in our previous patent application published as GB 2453645. In this case, an AUV is installed over a submersible station, which can also be described as a dock or garage for the AUV. The station, with the AUV closed in it, is swung out from a support vessel on a cable winch and is lowered quickly into the water. In this sense, it is advantageous to minimize the time spent transiting the turbulent supralittoral zone near the water's surface. However, gross loads can be caused by the slackness of the suspension cable when the AUV / station composition transits the supralittoral zone in high seas conditions.
    [0003] [003] After leaving the supralittoral zone, the AUV / station composition is lowered to a fixed location at the bottom of the sea, from where the AUV will later detach from the station to carry out its mission. The docking of the station on the seabed can be timed to minimize the effects of the lifting motion of the support vessel, however, shock loads transmitted during docking on both the suspension cable and the AUV / station composition may still be considerable. Therefore, shock absorbers may be needed at the bottom of the station.
    [0004] [004] Once moored, the suspension cable is loosened to disconnect the station from the motion caused by the support vessel, however, this requires a flotation device to keep the suspension cable above the station to minimize the risk of interference between the suspension cable and the station.
    [0005] [005] At the end of the mission or at intervals during your mission, the AUV will typically return to the station for recovery, storage or recharging. Until this happens, the station can be taken to the support vessel for subsequent redeposition elsewhere or at the same location, or it can be disconnected from the support vessel and left at the original docking location on the seabed to be recovered later.
    [0006] [006] Disconnecting the station, typically using an ROV or acoustic release, frees the support vessel for other tasks while the AUV performs its mission. However, reconnection requires an ROV and presents the challenge of locating the station and reconnecting under often adverse conditions at sea.
    [0007] [007] When the station must eventually be recovered from the seabed, which is commonly composed of soft mud into which the station tends to be embedded, it may be necessary to overcome the adhesion or suction forces existing between the station and the bottom of the sea. This can increase the severity of the gross loads on the suspension cable when the station comes off the seabed.
    [0008] [008] An older document of the prior art, GB 2004818, shows that a "moonpool" can be attached and fitted to a support vessel with a floating platform to reduce the impact of waves during the launch of a submersible vehicle. However, this solution requires a vessel to be specially adapted at high costs. When a vessel does not have a moonpool, GB 2004818 cannot solve the wave motion problem.
    [0009] [009] WO 01/21476 describes an apparatus and methods for recovering an AUV from intermediate waters, in which a vehicle with a launch lock and equipped with a propeller is tied to an underwater rope management system, which in turn is suspended from a surface vessel. The lifting of the vessel is compensated by the looseness in the rope between the vehicle with lock and the submerged rope management system. However, the impacts of lifting are not eliminated: the relative movement between a rope management system and the payload is simply minimized by loosening or winding the rope at the appropriate time. This can compensate for the lift when the vehicle with the lock is connecting to the AUV of intermediate waters, however, this will not eliminate the effects of the lift when the connected latch and the AUV are taken back to a rope management system. Consequently, the WO 01/21476 system as a whole does not compensate for the lifting of the surface vessel.
    [0010] [0010] US 7,854,569 describes a vehicle with a release lock and equipped with a propellant to capture and retrieve UAVs. This patent is primarily intended for data transfer between the launch vehicle and the UAV and does not deal with tension control on the suspension cable.
    [0011] [0011] US 3,779,195 describes an apparatus and methods for recovering submerged objects such as damaged submarines. This patent does not describe a vehicle equipped with a propeller, as it uses a device that is guided to the object by capturing and monitoring a messenger cable installed from the object. A winch in constant tension is described, however, it is not able to compensate for the lifting of the surface vessel.
    [0012] [0012] EP 1125838 describes a surface vehicle equipped with a propellant to recover an underwater vehicle, however, it operates only when the underwater vehicle is on the surface.
    [0013] [0013] It is against these background that the present invention was conceived.
    [0014] [0014] In a way, the invention can be expressed as a method for suspending a payload such as an AUV or AUV garage from an underwater location, which comprises: launching a closure unit through the water to the payload, the closing unit being attached to a suspension cable to guide the suspension cable towards the payload; fix the closure unit to the payload; and suspending the payload using the voltage applied via the suspension cable via the closing unit; in which the suspension cable is supported by a compensating hoist on a surface vessel. The gross loads when releasing the payload from a location on the seabed can be minimized by increasing the tension progressively through the suspension cable.
    [0015] [0015] In the preferred embodiments that will be described, launching the closure unit comprises moving the closure unit horizontally on geometric x and / or y axes to align the closure unit above the payload prior to fixing. The closing unit can be moved on a z axis in the direction of the payload by removing the suspension cable from the winch while moving the closing unit on the x and / or y axis. In this sense, the closure unit can be conveniently lowered from the surface vessel on the suspension cable and suspended in the water from the suspension cable with negative buoyancy.
    [0016] [0016] The use of a lifting compensator winch allows the closing unit to be guided and docked with the payload in a controlled and precise manner, without unexpected variations in the position of the z axis of the closing unit. When the winch determines a position of the z-axis so that the closing unit is on a stretched suspension cable, this can be contrasted with the prior art loose umbilical arrangements that fly on the z-axis.
    [0017] [0017] The underwater positions of the closing unit and the payload can be determined by known techniques and the closing unit can then be launched during the monitoring of its change of position to converge with the position of the payload.
    [0018] [0018] The lifting compensation made by the winch is properly activated when the closing unit is in a position of intermediate waters close, however, vertically spaced from the payload.
    [0019] [0019] During the detection of the fixation of the closure unit on the payload, the winch advantageously applies tension to the suspension cable to prevent the suspension cable from falling on the payload. For this purpose, local tension can be detected in a portion of the suspension cable firmly adjacent to the payload to control the winch. For example, a suspension cable tension sensor can be adjacent to or integrated with the closure unit.
    [0020] [0020] The closure unit can also be used to lower a payload in an underwater location from which the payload is subsequently suspended or recovered. Thus, the method of suspension of the invention can be preceded by the action of lowering the payload in the underwater location attached to the closing unit fixed, in turn, to the suspension cable; detach the closure unit from the payload; and suspend the payload closure unit space using the suspension cable. During the lowering of the payload through a supralittoral zone close to the surface, the method preferably comprises restricting the movement of the suspension cable, for example, using a spring compensated pulley supported by a surface vessel.
    [0021] [0021] The concept of the invention encompasses a closure unit equipped with a propellant that is controllable through water to a payload in an underwater location, the closure unit having a fixture to guide a suspension cable towards the payload and a latch formation for securing the closure unit to the payload and being arranged to transmit the suspension tension from the suspension cable to the payload by fixing and latching to recover the payload. The attachment is suitably arranged on one side of the closure unit and the latch formation is arranged on the opposite side of the closure unit to transmit tension from the suspension cable through the closure unit to the payload.
    [0022] [0022] The concept of the invention also finds expression in a system to recover a payload from an underwater location, the system comprising: the closing unit of the invention fixed to a suspension cable; a lifting compensator winch to release the suspension cable and lower the closing unit towards the payload; a position detection apparatus for detecting underwater positions of the closing unit and the payload; and a control device acting on the winch and the closing unit to direct the closing unit to the payload. The control device is suitably arranged to control one or more thrusters of the closing unit and to move the closing unit on the geometry axes x and / or ye to control the winch to lower the closing unit on a geometry axis z by removing the suspension cable of the winch.
    [0023] [0023] The concept of the invention also extends to a surface vessel for support, which operates or is designed to operate the method of the invention or which has the system of the invention.
    [0024] [0024] By virtue of the invention, an underwater payload can be lowered, easily located and raised in various marine conditions and at the same time minimizes the transient forces suffered by the payload and the rigging that supports the payload. A support vessel requires minimal modification to benefit from the invention. The device of the invention is economical in comparison to changes in the architecture of a support vessel such as an attached moonpool as proposed in GB 2004818.
    [0025] [0025] Some solutions provided by the invention can be used independently for a unit with a release lock, although they provide synergistic benefits when used together:
    [0026] [0026] Restricting the movement of the suspension cable reduces launch charges caused by the loose cable during the lowering of the payload through the supralittoral zone;
    [0027] [0027] The lifting compensation made by the winch deposits the payload on the seabed or on another underwater surface in a controlled manner and allows the payload to be docked and suspended with a gentle and precise movement;
    [0028] [0028] Tension stabilization through the winch keeps the suspension cable free of the payload while the payload is on the seabed or on another underwater surface; and
    [0029] [0029] After docking, the gradual increase in tension on the suspension cable suspends the payload from the seabed or other underwater surface in a controlled manner and controls any additional load caused when the payload is stuck in the bottom of the muddy sea.
    [0030] [0030] Both in WO 01/21476 and in US 7854569 noted above, the packages to be recovered are in intermediate waters. On the other hand, the preferred applications of the invention relate to the distribution and retrieval of a package on the seabed. In this context, the use of lifting compensating winches, the restriction of loads and / or systems with constant tension ensures a safe installation and recovery through the supralittoral zone, a docking of the package at the bottom of the sea in a controlled manner, the release of same and subsequently the reconnection and suspension of the package from the seabed in a controlled manner, while undoing any adhesion or suction.
    [0031] [0031] In order for the invention to be more readily understood, reference will now be made, just by way of example, to the attached drawings in which:
    [0032] [0032] Figure 1 is a schematic side view of a first embodiment of the invention in use, while lowering an AUV basket from a support vessel on the seabed;
    [0033] [0033] Figure 2 is a schematic side view of a second modality of the invention in use, during the lowering of a unit with launch lock from a support vessel to dock with an AUV basket previously placed on the seabed. ;
    [0034] [0034] Figure 3 is an enlarged schematic side view of the closure unit and the AUV basket of Figure 2 while they are fitted together, just before the AUV basket is deposited on the seabed;
    [0035] [0035] Figure 4 corresponds to Figure 3, however, it shows the closing unit detached and returning to the support vessel after the AUV basket had been deposited on the seabed;
    [0036] [0036] Figure 5 corresponds to Figure 4, however, it shows a closing unit returning and approaching the AUV basket for recovery;
    [0037] [0037] Figure 6 corresponds to Figure 5, however, it shows the closing unit coming close to the AUV basket due to the movement in the geometric axes x, y occurred while it is being lowered;
    [0038] [0038] Figure 7 corresponds to Figure 6, however, it shows the closing unit aligned with the AUV basket after the final movement in the geometric axes x, y and consequently, while it is being prepared for docking, a position also shown in Figure 2;
    [0039] [0039] Figure 8 corresponds to Figure 7, however, it shows the docked closure unit with the AUV basket, which is, therefore, ready for recovery in the support vessel; and
    [0040] [0040] Figure 9 is a schematic front view of a control unit that shows the controls and screens that can be presented to the pilot who controls the movement of the closing unit in use.
    [0041] [0041] Two methods according to the invention will be described in detail below. Both use an AUV garage or a basket delivered to the seabed as an example of payload, although the invention can be used with other payloads that require distribution or retrieval from the seabed or other underwater locations, which includes intermediate water locations. In each case, the underwater location is entirely underwater or subsurface, so that the payload is completely submerged while it is connected to a suspension cable at that location.
    [0042] [0042] The first method leaves the payload attached to a suspension cable and is described with reference to Figure 1. Where the payload is an AUV basket as in this example, the basket can simply launch and / or recover an AUV ( not shown) during a brief stay on the seabed, where the basket remains connected to the support vessel via the suspension cable.
    [0043] [0043] The second method described with reference to Figures 2 to 9, is an extension of the first method. It allows a payload to be left at the bottom of the sea or released at another underwater location - which includes intermediate waters - for collection or recovery at a later time. This is appropriate when the payload is an AUV basket with a garage or docking facility, which must be left at the bottom of the sea and to which an AUV can periodically return for protection, exchange or recharge, and eventually for recovery.
    [0044] [0044] Referring first to Figure 1 of the drawings, a support vessel 10 has an active compensating hoist 12 mounted on its deck 14. The winch 12 is driven by a power pack 16 controlled by a winch controller 18 The winch 12 acts on a suspension cable 20 which is typically made of steel cable, however, it could be made of other materials. The suspension cable 20 has power and communication cores inside, which serve as an umbilical cable.
    [0045] [0045] The suspension cable 20 supports a payload, in this case a basket 22 for an AUV. The suspension cable 20 carries a load pin 24 near the basket 22 that detects the local tension in the suspension cable 20 for use in the control of the winch 12, as will be explained below. However, in essence, the basket 22 is connected directly to the suspension cable 20 in a way that transmits tension from the suspension cable 20 to the basket 22 without an intermediate umbilical cable or other elastic tape.
    [0046] [0046] The vessel 10 has a launch and recovery crane 26 that supports the pulley 28 on which the suspension cable 20 travels and where it extends from the winch 12 to the basket 22. The pulley 28 has compensators built in with damping spring to keep the gross loads within safe operating limits for the suspension cable 20. A latch 30 associated with the pulley 28 supports the weight of the basket 22 when it is lifted above the surface 32.
    [0047] [0047] In a launching operation, the crane 26 lifts the basket 22 over the side of the vessel 10 while the basket 22 remains attached to the pulley 28 by the latch 30. The load of the basket 22 is then transferred to the winch 12 via of the suspension cable 20 and after that the latch 30 is opened and the basket 22 is lowered through the supralittoral zone 34 as the winch 12 releases the suspension cable 20. The gross loads caused by the looseness in the suspension cable 20 when the basket 22 transits through the supralittoral zone 34 in offshore conditions are mitigated by the damper springs of the pulley 28.
    [0048] [0048] Basket 22 is lowered until it is close to the seabed 36, typically at an altitude of twenty meters. At this stage, the active lift compensation mode (AHC) is switched on to the winch controller 18. In AHC mode, the vessel's movement is measured by a motion sensor on the winch controller 18 and the winch 12 is triggered by the winch package. energy 16 to counteract this motion, keeping basket 22 at a substantially fixed altitude above the seabed 36 when vessel 10 is lifted.
    [0049] [0049] With continued compensation for the lifting motion of vessel 10 in AHC mode, basket 22 is then lowered slowly under manual or automatic control towards the bottom of the sea 36. When basket 22 reaches the bottom of the sea 36, the winch controller 18 is activated manually or automatically in AHC constant voltage mode. In this mode, active lift compensation continues, however, the load pin 24 provides an inclined drive signal for the AHC 18 winch controller system, so that a predetermined load is maintained on the suspension cable 20. This ensures that the suspension cable 20 does not fall on top of the basket 22.
    [0050] [0050] To retrieve basket 22, a start function is enabled on winch controller 18. Initially, winch controller 18 operates winch 12 in AHC mode. The start function slowly increases the tension on the suspension cable 20, which is measured by the load pin 24 until the basket 22 discharges to the bottom of the sea 36. This slow increase in the tension of the suspension cable 20 ensures that the resistance to movement of the basket 22 caused by the adhesion or suction between the basket 22 and the seabed 36 is progressively overcome. This reduces the maximum tension that must be applied by means of the suspension cable 20 to remove the basket 22 from the seabed and ensures that only a sufficient amount of tension is applied for this purpose. In this way, the gross loads of the suspension cable 20 are reduced when the basket 22 is released.
    [0051] [0051] When the basket 22 reaches a sufficient altitude above the seabed 36, the AHC mode can be deactivated on the winch controller 18. The basket 22 can then be lifted up to the surface 32 and returned to the socket with the latch 30 of pulley 28 for recovery to deck 14 of vessel 10.
    [0052] [0052] With reference now to Figures 2 to 9, the system shown in those drawings is an evolution of the system shown in Figure 1; similar numerals are used for similar parts.
    [0053] [0053] Figures 2 to 8 show a unit with a release latch 38 at the end of the suspension cable 20 which can be locked and unlocked from basket 22. This allows basket 22 to be left at the bottom of the sea 36 while vessel 10 leaves and is subsequently recovered back on the vessel (which obviously does not have to be the same vessel) when necessary.
    [0054] [0054] The closing unit 38 and the basket 22 have complementary latch parts 40, 42 for this purpose, namely, a female part of the latch with downward opening 40 on a lower side of the closing unit 38 and a male part the latch 42 projecting upwards from an upper side of the basket 22. Other latch configurations are possible depending on the detailed requirements of the model; for example, the female part of the latch could have an inverted opening, that is, facing upwards.
    [0055] [0055] The male part of the latch 42 is a button with an enlarged and tapered upward head 44 that fits with the rotating jaws 46 of the female part of the latch 40. The engaged state is shown in Figures 2 and 8. The claws 46 they rotate to receive the button head 44 during the engagement of the closing unit 38 with the basket 22 and are rotated again to release the head 44 when disengaging is required, as shown in Figure 3.
    [0056] [0056] As previously mentioned, a load pin 24 is disposed on the suspension cable 20 to allow the winch controller 18 to control the local tension on the suspension cable 20 through the winch 12. In this case, the load pin 24 is positioned above the closure unit 38. However, the load pin 24 could be incorporated into the closure unit 38. Again, the basket 22 is connected to the suspension cable 20 in a way that transfers the tension from the suspension cable 20 for the basket 22 without an intermediate umbilical cable or other elastic tape, although in this case this occurs through the closure unit 38.
    [0057] [0057] The closing unit 38 comprises reversible thrusters 48 arranged in pairs that act on parallel and generally horizontal geometric axes, through which the closing unit 38 can be moved, controlled, oriented and submerged in a horizontal plane defined by the geometric axes x- and y-. Although only one pair of thrusters 48 is visible in the drawings, there could be more than one pair of thrusters 48. For example, four thrusters 48 arranged in two pairs acting on mutually orthogonal geometrical axes would allow for propulsion in each direction without the need to change the direction of the closing unit 38.
    [0058] [0058] Although the closure unit 38 might have an additional ability to apply propulsion vertically and move up and down the water column, it is anticipated that the movement of the vertical geometric axis z of the closure unit 38 can be effected mainly or exclusively by moving the suspension cable 20 with the winch 12.
    [0059] [0059] The closing unit 38 has an onboard control module 50 with sensors for direction, depth and altitude. With the feedback of these sensors from the control module 50, the movement of the closing unit 38 is controlled by the pilot who operates a joystick 52 from a control unit 54 on vessel 10. Control unit 54 is shown schematically in Figure 9. A closing unit 38 is connected to control unit 54 via an umbilical data connection integrated with the suspension cable 20.
    [0060] [0060] The operation of the control unit 54 is connected to the operation of the winch controller 18 to synchronize their actions when necessary, for example, operating the winch 12 to effect the z axis movement of the closing unit 38 when a pilot moves the joystick 52 of the control unit 54 properly.
    [0061] [0061] The closure unit 38 also comprises a camcorder camera 56 on its underside and which provides a video signal for the control unit 54 to display to the pilot on a monitor 58 on the control unit 54. This video display is used to assist in the final docking of the closure unit 38 with the basket 22 allowing the pilot to align the female part of the latch 40 with the head 44 of the button. The bottom side of the closure unit 38 also has a light 60 for this purpose.
    [0062] [0062] The position of the closing unit 38 when it is submerged is signaled by an acoustic receiver-transmitter 62 loaded by the closing unit 38. The basket 22 also has a receiver-transmitter 64. The positions of both receiver-transmitters 62, 64 are suitably determined by an acoustic positioning system such as a USBL ("ultra-short baseline") system 66 loaded by the vessel 10. The relative positions of the transceivers 62, 64 are conveniently displayed on the pilot screen. navigation 68 of the control unit 54. The navigation screen 68 allows the pilot to command the closing unit 38 towards a stationary transponder 64 of the basket 22 on the geometric axes x, y when the closing unit 38 is lowered on the axis geometric z by the winch 12 releasing the suspension cable 20. A depth screen 70 is also provided in the control unit 54.
    [0063] [0063] Thus, this second method of the invention employs the basket unit with release latch 38 which can be used to leave the basket 22 on the bottom of the sea 36. In reality, the closure unit 38 is a latch or hook controllable attached to the end of the suspension cable 20, which can be propelled on the geometric axes x, y as it moves on the geometric axis z. The conduction on the geometric axes x, y during lowering to the geometric axis z effectively guides the closing unit 38 to the basket 22 within a tapered volume with tapering downwards.
    [0064] [0064] The process of launching the second method reflects the process of the first method until basket 22 is at the bottom of the sea 36, with the exception that in this case basket 22 is initially fixed to the pulley latch 28 indirectly through the closing 38. Figure 3 shows basket 22 reaching the bottom of the sea 36.
    [0065] [0065] During docking at the bottom of the sea 36, the latch parts 40, 42 are detached to remove the closing unit 38 from the basket 22 and the closing unit 38 is suspended from the basket 22 as shown in Figure 4. When there is sufficient space between the closure unit 38 and the basket 22, the AHC mode can be deactivated and the closure unit 38 can then be retrieved on vessel 10 by wrapping the suspension cable 20 on the winch 12.
    [0066] [0066] When basket 22 is to be recovered as shown in the sequence of Figures 5 to 8, vessel 10 is positioned over basket 22 using known techniques, such as a USBL acoustic positioning system based on vessel 66, which detects receiver-transmitter 64 in basket 22. Closing unit 38 is lowered to the position close to the position of basket 22, again typically within twenty meters of vertical separation. A comparison is made between the positions of the transmitter receivers 62, 64 on the closing unit 38 and the basket 22 and their relative positions on the geometric axes x, y are displayed to the pilot on the navigation screen 68 of the control unit 54, as shown in Figure 9.
    [0067] [0067] Then, with the AHC mode activated on the winch 12 to compensate for the lifting motion of the vessel 10, the pilot uses the joystick 52 and the navigation screen 68 of the control unit 54 to drive the closure unit 38 on the axes geometric x, y. The points shown on the navigation screen 68 shown in Figure 9 represent the transmitter receivers 62, 64 in the closing unit 38 and in the basket 22 and the pilot's initial objective is to align these points. The pilot also views the depth screen 70 and the monitor 58 in addition to the navigation screen 68 to observe when the basket 22 becomes visible below the closure unit 38.
    [0068] [0068] The closing unit 38 is actively activated to close the gap in the geometric axes x, y between the transmitter receivers 62, 64 of the closing unit 38 and the basket 22, during the lowering of the closing unit 38 along the geometric axis z releasing the suspension cable 20 from the winch 12. In this way, the closing unit 38 is moved towards the basket 22 as the closing unit 38 descends. The suspension cable 20 can then be locked in the basket 22 via the closing unit 38, using the video camera 56 and the light 60 to guide the final approach of the closing unit 38 to the basket 22.
    [0069] [0069] As soon as the locking unit 38 is locked in the basket 22, the winch controller 18 is activated in constant tension mode AHC to maintain the tension of the suspension cable 20. This prevents the suspension cable 20 from falling on top from basket 22. Basket 22 is then recovered from the seabed 36 and taken to vessel 10 in the same manner as described in the first method above.
    [0070] [0070] Numerous variations are possible within the concept of the invention. For example, as noted above, the invention can be used to deliver a payload or to recover a payload from an underwater location other than the seabed, such as an intermediate water location. This can be useful for depositing or retrieving an underwater vehicle such as an AUV to or from anywhere in the water column, if the vehicle is fitted with an appropriate transmitter receiver.
    [0071] [0071] In addition, in principle, it would be possible for the closing unit 38 to determine the relative position of the basket 22 via the transmitter-receiver 64 or otherwise to conduct that relative position information back to the control unit 54.
    [0072] [0072] The invention can be used to deposit several common packages and to recover them from the seabed or other underwater locations. For example, the invention can be used to deposit multiple packages that must be packed under the sea or on an underwater structure. Another example of a payload that can be deposited and recovered by the invention is a remotely controlled vehicle or an autonomous tracker type that operates on the seabed.
    权利要求:
    Claims (19)
    [0001]
    A method for suspending a payload (22) from an underwater location comprising: launch a closure unit (38) through the water at the payload (22), the closure unit (38) being attached to a suspension cable (20) supported by a winch (12) on a surface vessel (10) to guide the suspension cable (20) towards the payload (22); fix the closing unit (38) to the payload (22); and suspend the payload (22) using tension applied by means of the suspension cable (20) through the closing unit (38); characterized by the fact that the winch (12) supporting the suspension cable (20) is a compensating hoist.
    [0002]
    Method according to claim 1, characterized by the fact that launching the closing unit (38) comprises moving the closing unit (38) horizontally on the geometric axes x and / or y to align the closing unit (38) above the payload (22) before fixing.
    [0003]
    Method according to claim 2, characterized in that it comprises lowering the closing unit (38) on a geometric axis z towards the payload (22) by removing the suspension cable (20) from the winch (12) during the movement of the closing unit (38) on the geometric axes x and / or y.
    [0004]
    Method, according to any of the preceding claims, characterized by the fact that it comprises determining the underwater positions of the closing unit (38) and the payload (22) and launching the closing unit (38) during the monitoring of its change position to converge with the payload position (22).
    [0005]
    Method according to any one of the preceding claims, characterized by the fact that the closing unit (38) is suspended from the suspension cable (20) with negative buoyancy.
    [0006]
    Method according to any one of the preceding claims, characterized by the fact that the hoist compensation by the winch (12) is activated when the closing unit (38) is in a position of intermediate waters close, however, vertically spaced from the load useful (22).
    [0007]
    Method, according to claim 6, characterized by the fact that it comprises detecting the fixation of the closing unit (38) in the payload (22) and in response to the fixation, apply tension to the suspension cable (20) using the winch ( 12).
    [0008]
    Method according to claim 7, characterized by the fact that it comprises detecting the local tension in a portion of the suspension cable (20) exactly adjacent to the payload (22) to control the winch (12).
    [0009]
    Method according to any one of the preceding claims, characterized by the fact that it comprises increasing the tension through the suspension cable (20), in a progressive way to release the payload (22) from the place on the seabed.
    [0010]
    Method according to any of the preceding claims, characterized by the fact that it is preceded by lowering the closing unit (38) from the surface vessel on the suspension cable (20).
    [0011]
    Method according to any one of the preceding claims, characterized by the fact that it is preceded by lowering the payload (22) to the underwater location attached to the closing unit (38) attached, in turn, to the suspension cable (20 ); removing the closing unit (38) from the payload (22); and suspend the closing unit (38) free of the payload (22) using the suspension cable (20).
    [0012]
    Method according to claim 11, characterized by the fact that it comprises lowering the payload (22) from the surface vessel through a supralittoral zone (34) while restricting the movement of the suspension cable (20).
    [0013]
    Method, according to any of the preceding claims, characterized by the fact that the payload (22) is one of AUV or an AUV garage.
    [0014]
    System to recover a payload (22) from an underwater location, the system comprising: a suspension cable (20); and a closing unit (38) equipped with a propeller attached to the suspension cable (20) and controllable, through water, to a payload (22) in an underwater location, the closing unit (38) having a fixture to drive the suspension cable (20) towards the payload (22) and a closing formation (40) to fix the closing unit (38) to the payload (22) and being arranged to transmit suspension tension from the cable from suspension (20) to the payload (22) through fixing and closing formation to recover the payload (22); and characterized by a compensating hoist winch (12) to release the suspension cable (20) to lower the closing unit (38) towards the payload (22).
    [0015]
    System according to claim 14, characterized by the fact that the fixation is arranged on one side of the closing unit (38) and the closing formation (40) is arranged on an opposite side of the unit (38) to transmit tension from the suspension cable (20), through the unit to the payload (22).
    [0016]
    System according to claim 14 or 15, characterized by the fact that it comprises: a position detection apparatus (50) for detecting the underwater positions of the closing unit (38) and the payload (22); and a control device (18, 54) acting on the winch (12) and the closing unit (38) to direct the closing unit (38) towards the payload (22).
    [0017]
    System according to claim 16, characterized in that the control device (18, 54) is arranged to control one or more thrusters (48) of the closing unit (38) to move the closing unit (38) on the geometrical axes x and / or ye to control the winch (12) to lower the closing unit (38) on a geometrical axis z by removing the suspension cable (20) from the winch (12).
    [0018]
    System according to claim 16 or 17, characterized by the fact that it also comprises a suspension cable tension sensor (24) adjacent to or integrated with the closing unit (38) whose signal is used by the control device to control the winch (12).
    [0019]
    Surface support vessel characterized by the fact that it has the system as defined in any of claims 14 to 18.
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    同族专利:
    公开号 | 公开日
    EP2780223B1|2018-08-01|
    US9387911B2|2016-07-12|
    SG11201402106VA|2014-06-27|
    US20150086299A1|2015-03-26|
    CA2855343C|2014-12-09|
    GB2496608A|2013-05-22|
    GB201119696D0|2011-12-28|
    AU2012338566A1|2014-06-05|
    WO2013072690A1|2013-05-23|
    RU2014120002A|2015-12-27|
    AU2012338566B2|2015-03-05|
    MX349287B|2017-07-21|
    CN104114445A|2014-10-22|
    MY167828A|2018-09-26|
    RU2623293C2|2017-06-23|
    CN104114445B|2017-09-19|
    CA2855343A1|2013-05-23|
    EP2780223A1|2014-09-24|
    MX2014005915A|2014-06-05|
    GB2496608B|2014-06-18|
    BR112014011623A2|2017-05-09|
    DK201470290A|2014-05-19|
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    法律状态:
    2017-08-01| B25G| Requested change of headquarter approved|Owner name: SUBSEA 7 LIMITED (GB) |
    2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-02-11| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-02-23| B09A| Decision: intention to grant|
    2021-04-06| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 15/11/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    GB1119696.1A|GB2496608B|2011-11-15|2011-11-15|Launch and recovery techniques for submersible vehicles and other payloads|
    GB1119696.1|2011-11-15|
    PCT/GB2012/052838|WO2013072690A1|2011-11-15|2012-11-15|Launch and recovery techniques for submersible vehicles and other payloads|
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