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CN-122029099-A - Semi-submersible ocean carrier capable of being remotely operated in severe weather

CN122029099ACN 122029099 ACN122029099 ACN 122029099ACN-122029099-A

Abstract

The invention relates to a semi-submersible vehicle useful for operation in severe weather, comprising 1-two pontoons (2), each pontoon comprising a ballast tank, a propeller, an electric tank and a mechanical tank, wherein one fuel tank (17) is located below the tank, 2-two solid ballast tubes (3) as a vehicle heavy keel attached to each pontoon (2), 3-horizontally and vertically interconnected struts (5), 4-two payload tanks (1) as Remotely Operated Vehicle (ROV) docking tanks and detachable, 5-upper deck (6) comprising (A) navigation lights, (B) sensors, (C) pontoons, (D) tank body vents, (E) engine air inlet and air outlet, 6-small water surface area superstructure (4) connecting deck (6), pontoons (2), air inlet, air outlet (4A) and ventilation lines, and power and data signal lines.

Inventors

  • W. A.E.R. Becker

Assignees

  • 麦克斯自由贸易区公司

Dates

Publication Date
20260512
Application Date
20240612
Priority Date
20230620

Claims (13)

  1. 1. A semi-submersible vehicle comprising: -two buoyancy tubes (2); -two solid ballast tubes (3) as heavy keels of the vehicle, attached to each buoyancy tube (2) separately, filled with the required solid ballast and possibly containing other heavy components such as batteries; -horizontal and vertical interconnecting struts (5) for stiffening the aircraft structure and providing bypass channels and connecting lines between the buoyancy tube (2) and the ballast tube (3); -two payload cabins (1) detachable for mounting suitable cabins according to the target task; -an upper deck (6) comprising: (A) Navigation lights for determining directions and channels during navigation; (B) Various sensors; (C) A pontoon; (D) The oil tank ventilation opening is used for air inlet and outlet when the oil tank is inflated and deflated; (E) An engine intake and exhaust; -an ultra-small surface area superstructure (4) connecting deck (6) and buoyancy tube (2) and delivering intake, exhaust (4A) and ventilation lines, carrying both power and data lines; the method is characterized in that: The method can efficiently identify normal and bad weather, and real weather conditions are monitored in real time through a shipborne wind speed sensor and a draft sensor, wherein wind speed is measured through the shipborne wind speed sensor, wave height is estimated through a high-precision sensor fusion algorithm, and the algorithm utilizes measurement data of the draft pressure sensor, an ultrasonic sensor arranged on a deck and a motion reference unit to grade the weather conditions; The system has a small waterplane twin-hull Ship (SWATH) and a heavy keel configuration, and even if the system is small in size, the system has excellent stability in the process of deployment and recovery of the underwater vehicle under higher sea conditions, and has operation capability and viability under severe weather conditions (high waves); it is equipped with an automatic precision ballast system capable of maintaining a precise draft during operation.
  2. 2. The semi-submersible vehicle of claim 1 wherein each buoyancy tube comprises: -two ballast tanks (AFT (7), FWD (8)), two propellers (11), two propeller mounting and motor spaces (13); -a first compartment (15) for electrical equipment, comprising: (A) A control panel; (B) A propeller motor driver; (D) A power management system component; (E) A fixed fire suppression system; (F) HVAC (heating ventilation air conditioning system); -a second nacelle (16) for a generator, comprising: (A) A generator; (B) Pumps and various pipeline systems; (C) A water cooling machine; (D) A fixed fire suppression system; (E) An air intake fan; (F) Wherein a fuel tank (17) is arranged below the first and second compartments (15, 16); -stern hatch (9), bow rubber fender (10), stern cabin (14) for Remotely Operated Vehicle (ROV) docking and hatch mechanism, comprising hydraulic system assembly space (12);
  3. 3. semi-submersible vehicle according to claim 1, wherein each payload bay (1) is balanced before installation to the vehicle so as not to affect the overall stability, and the payload bay (1) is provided with one or more watertight cabins for the load assembly.
  4. 4. Semi-submersible vehicle according to claim 1, wherein the vehicle is equipped with four azimuth thrusters (11) to meet dynamic positioning requirements
  5. 5. Semi-submersible vehicle according to claim 1, wherein the vehicle is equipped with four tunnel thrusters (18) with thrust vectorizable in the heave direction for stabilizing the vehicle in high wave conditions, achieving a smooth lifting of the ROV (remotely operated vehicle).
  6. 6. The semi-submersible vehicle of claim 5 wherein the vertical heave propellers (18) are of hubless propeller configuration and extend to counter-rotating propeller configuration for compactness and thrust enhancement, the counter-rotating propellers being equipped with radial gears driven by a motor or engine coupled to a gearbox.
  7. 7. The semi-submersible vehicle of claim 1 wherein the vehicle is hybrid to extend endurance for longer than one month, by hybrid operation of the generator and battery and by active front-end feedback power on the DC bus, the vehicle has complete system redundancy in dynamic positioning function, including multiple signal channels and repeating internal networks to ensure availability of navigation and control data.
  8. 8. The semi-submersible vehicle of claim 1 wherein the vehicle is further provided with an inflatable emergency buoyancy device comprising an automatically inflatable airbag system providing additional buoyancy to prevent sinking and damage to the underwater structure.
  9. 9. The semi-submersible vehicle of claim 1 wherein the vehicle has two primary modes of operation: (A) A water surface mode in which the buoyancy tube (1) is partially submerged for fuel filling or in shallow water operating in a snack state; (B) And in the submerging mode, the average waterline is usually positioned at the middle position of the height of the upper structure, so that the mode is an optimal operation mode under a high-wave working condition, and the disturbance of wave motion on the water displacement generated by the ultra-thin upper structure is very small.
  10. 10. Semi-submersible vehicle according to claim 1, wherein the payload bay (8) is provided with one or more cabins (12) for housing a bay door control system and other measurement equipment, the remainder being water filled, said payload bay (8) being equipped with a micro ROV system comprising a subsea cable system, ROV and LARS.
  11. 11. The semi-submersible vehicle of claim 1 wherein the vehicle is adapted for inclement weather operation, normal weather and inclement weather corresponding modes of operation enabling the apparatus to achieve the following operational conditions: The vehicle is equipped with an advanced automatic navigation system, which can realize various autonomous control functions including dynamic positioning, underwater vehicle following, automatic trim and draft control, and hovering, in which mode the high-precision automatic ballast system and vertical heave thruster can inhibit heave, roll and pitch movements of the vehicle, guaranteeing the stability of deployment and recovery of the unmanned remote-control submersible; -the vehicle is also equipped with advanced sensors, navigation systems and artificial intelligence modules for automatic obstacle avoidance and optimal path planning; The vehicle has three operation modes (a remote control mode, a semi-autonomous mode and a fully autonomous mode), all the modes are not supported by a mother ship and only need to be monitored through a shore-based Remote Operation Center (ROC), and the shore-based remote operation center can provide remote survey, detection and steering services from a shore end so as to realize real-time execution, monitoring and data transmission of the operation; The dynamic positioning function of the vehicle is provided with a full system redundancy design comprising multiple signal channels and double internal networks to ensure the availability of navigation and control data under any working condition.
  12. 12. The semi-submersible vehicle of claim 1, wherein the vehicle is provided with one or more autonomous control functions of: A-autopilot and dynamic positioning function (DP), comprising: Speed maintenance Course maintenance Position maintaining Following waypoints Loitering (move along preset center and radius track) And in this mode, the carrier follows by using the underwater carrier position and speed reference information provided by the USBL. The automatic adjustment of draft and trim conditions of the vehicle includes: automatic trimming Draft control And D-hover function, in which the automatic ballast system and the heave thruster are utilized to inhibit heave, roll and pitch, thereby realizing stable landing. E-. Other autonomous functions: Collision prevention Optimal path planning
  13. 13. The method of operation of a semi-submersible vehicle of claim 1, comprising: -the payload bay (1) is equipped with an ROV system, the carrier remaining submerged when it arrives at the job site; -the tail hatch (9) of the payload bay (1) is opened by a hydraulic actuator and extends over the top of the hatch pole; -the ROV flies out of the cabin (1) while the cable system automatically provides the required cable. When the ROV reaches a certain depth of the vehicle, the hatch is closed. The ROV locking system acts as a counterweight preventing the cable from being sucked in by the thruster (11).

Description

Semi-submersible ocean carrier capable of being remotely operated in severe weather Cross Reference to Related Applications The present application claims priority to U.S. provisional application No. 63/509,255 entitled "semi-submersible vehicle for severe weather operation", with a filing date of 2023, 6, 20 days. Technical Field The present invention relates to a semi-submersible marine vehicle, and more particularly to a Remotely Operated Vehicle (ROV) and remote investigation operations in severe weather conditions. Background The invention relates to an improvement in the field of semi-submersible ocean vehicles. In particular, it relates to a remotely operated vehicle that combines a SWATH (small water surface heavy draft) and a heavy keel configuration. This gives the vehicle superior stability in deployment and recovery of underwater vehicles at higher sea conditions, as well as maintaining operability and viability even in small sizes in severe weather and rough seas. Existing underwater operating schemes typically require a survey vessel, typically a dynamic positioning vessel. The cost of such operations can be higher when considering downtime due to inclement weather. Ships typically employ conventional hulls or catamarans, the operational sea state of which is limited by the length of the ship. Thus, if it is desired to increase the operational weather window, a larger vessel is required. Another possibility is to consider other types of vessels with special designs. The heavy keel can increase the reset arm of force of the ship. When properly used, it protects the vessel from capsizing. Although heavy keel vessels have very high return arms, they are not suitable for operation in severe sea conditions because the main buoyancy element (hull) is located above the waterline. SWATH hulls have been developed for high wave operations to achieve superior stability. This is achieved by having the main buoyancy element always submerged (water float pipe) and connected to the superstructure by struts. The height of the struts is typically a trade-off between wave height and allowed draft. However, the struts are typically made of a strong structure to withstand forces from the superstructure, relative hull movement and wave loading. Therefore, it cannot be too high and the cross-sectional area of the strut cannot be small enough to eliminate the wave-induced displacement effect. Furthermore, the maximum height of the strut is related to the vessel length. Too high a height can severely reduce stability under severe sea conditions. FR2565195 relates to a semi-submersible marine vessel that can be operated at the surface or semi-submerged. WO2014003595 relates to marine transportation and more particularly to a rescue vessel equipped with a positioning device and a deep sea active search function. None of the prior art documents discloses the vehicle and its unique features of the present invention, namely the combination of heavy keel structure with ultra-small surface area design. This enhances the stability of the long struts. Further, by optimizing the induced loading of the superstructure, thinner struts can be used. In particular embodiments, the present invention provides a semi-submersible unmanned vehicle that can be operated remotely or autonomously and that utilizes dynamic positioning. Due to its size, the new semi-submersible vehicle is capable of operating in extremely challenging weather conditions, controlling draft by compromising the ultra-small water surface area of the struts and the heavy keel concept, as well as the precise ballast system. The maximum survivable wave height is determined by parameters related to the minimum GZ complete stability margin, the height of the small surface area struts, and the tonnage per centimeter (TPc), which have a direct effect on the cut-off frequency of the Response Amplitude Operator (RAO). The RAO correlates the carrier response amplitude with the wave height and frequency band. In addition, the objects of the present invention are achieved by providing a dynamic positioning system, an automatic ballast system, a vertical heave thruster, and the like. Disclosure of Invention The invention relates to a vehicle for offshore surveys and involving ROV (remotely operated vehicle) take-off and landing operations, comprising: Two buoyancy tubes (2), two solid ballast tubes (3), interconnected horizontal and vertical struts (5), two payload tanks (1), a small surface area superstructure (4), and a lightweight upper deck (6). The carrier is detachable and transportable by standard containers, wherein two buoyancy tubes (2) provide almost all buoyancy to the carrier and accommodate most of the components. The two solid ballast tubes (3) are heavy keels of the vehicle, filled with the required solid ballast, and may contain other heavy components such as batteries. The interconnecting struts (5) are designed to replace the deck of a common catamaran. The d