Patent Application
20170240257
The present invention relates to a submarine vehicle, preferably to an unmanned submarine vehicle, to a method for picking a load up from the seabed and to a method for setting a load down on the seabed.
Autonomously operated submarine vehicles are known from the prior art, which are preferably used for inspection purposes. Typically, these autonomously operated submarine vehicles are highly restricted with regard to their ability to interact with the surroundings and their diving time during the dive.
As a result of these limitations, these prior art submarine vehicles are not suitable for traveling to different target positions and in each case exchanging loads there. In principle, there are a large number of potential applications for submarine vehicles. For example, for seismic measurements, it is necessary to distribute sensors (for example seismic nodes) at different target positions on the seabed over as extensive an area as possible. A further application for submarine vehicles is the regular exchange of containers with fuels at installations for extracting hydrocarbons. For exchanging individual containers or for exchanging small groups of containers, the prior art knows remotely controlled submarine vehicles, as are known for example from the document U.S. 2009/0114140 A1. Their range is highly limited. Furthermore, effective utilization is dependent on the reaction time of a pilot remotely controlling the submarine vehicle and on the communication between the submarine vehicle and pilot, wherein communication is generally hampered by the diving depth reached during the dive. As a result, effective and uncomplicated exchange of loads cannot be realized via remote control.
Alternatively, the prior art knows methods in which the fuels are transported over long distances to extraction and production sites via hose lines, or umbilicals. In this case, the installation costs are particularly high when only small quantities of fuels are required. In summary, the methods known from the prior art are costly and also time-consuming in particular in the case of remote-controlled submarine vehicles.
The object of the present invention is to provide a device with which a plurality of loads at different target positions on the seabed can be exchanged in as economical a manner as possible.
The object of the present invention is achieved by a submarine vehicle having a storage area for storing loads, wherein the submarine vehicle comprises a pressure hull, wherein the submarine vehicle is configured to pick the load up from the seabed and/or to set the load down on the seabed, wherein the storage area is arranged outside the pressure hull.
In contrast to the prior art, the submarine vehicle comprises a storage area outside the pressure hull, as a result of which the storage area can be designed in a correspondingly large manner and a large number of loads can be stored together. The pressure hull or floating body itself can thus be configured in a smaller manner. As a result of the increased capacity, i.e. the increased holding volume compared with the prior art, which can be achieved with the storage area arranged outside the pressure hull, the number of loads that are able to be picked up or exchanged in one dive can be increased. Advantageously, repeated and thus time-consuming and costly surfacing can be avoided as a result. In this way, an effective dive can be carried out, in which loads are exchanged over a large area.
In particular, the submarine vehicle is unmanned and comprises a freely flooded storage area or a wet storage space which is equipped for picking the load up from the seabed and/or for setting the load down on the seabed. Furthermore, provision is preferably made for important systems to be protected from the surrounding water by the pressure hull. It is moreover clear to a person skilled in the art that the submarine vehicle can also comprise several pressure hulls. Preferably, the submarine vehicle is already equipped with a large number of loads at the beginning of the dive. As a result, a large number of loads arranged on the seabed can be exchanged. In this case, provision is preferably made for loads to be picked up or exchanged autonomously in each case at different target positions. These loads may for example be equipment for seismic measurements, for example seismic sensors, or containers for fuels which for the extraction of hydrocarbons. Accordingly, seismic nodes or extraction and/or production sites on the seabed, in particular underwater production sites, are examples of target positions which are approached during a dive in order to pick up in each case one load there and preferably exchange it for a new load. In particular, the pressure hull is configured as a floating body.
Advantageous configurations and developments of the invention can be gathered from the dependent claims and from the description with reference to the drawings.
A further embodiment of the present invention provides that the submarine vehicle is operable autonomously and/or by remote control. In particular, the load is picked up by the submarine vehicle independently, i.e. in particular not by remote control, with the result that it is advantageously possible to dispense with remote control of the submarine vehicle and the known disadvantages thereof. However, it may also be advantageous to control the submarine vehicle at least partially via remote control. For example, it is conceivable for a course correction to be made via remote control.
A further embodiment of the present invention provides that the submarine vehicle comprises a load transporting system for picking the load up from the seabed, for setting the load down on the seabed and/or for conveying the load within the storage area. As a result, the exchange of a load arranged on the seabed can advantageously be carried out in an uncomplicated manner.
A further embodiment of the present invention provides that the submarine vehicle comprises a fuel cell system for supplying the submarine vehicle with energy. By way of the fuel cell system, an energy supply can advantageously be made available, with which long diving times are able to be realized. Preferably, individual propellants (starting materials) that are required for operating the fuel cell, for example oxygen and hydrogen, are stored separately from one another in each case in tanks. If the submarine vehicle comprises several pressure hulls, it is additionally conceivable for the propellants (starting materials) that are required for operating the fuel cell system to be carried along in different pressure hulls.
A further embodiment of the present invention provides that, for large diving depths, the pressure hull is manufactured from a fiber reinforced plastic (for example carbon fiber reinforced plastic), titanium and/or from a composite of these materials. In particular, a titanium end plate can be provided for the pressure hull. As a result of the use of fiber reinforced plastic and/or titanium as materials for the pressure hull, the submarine vehicle can be subjected to pressures that are so high as to allow a dive to several thousand meters. As a result, a deep-lying seabed can advantageously also be reached with the submarine vehicle.
A further embodiment of the present invention provides that the storage area comprises a lower hatch arranged on an underside of the submarine vehicle and/or an upper hatch arranged on a top side of the submarine vehicle. In particular, provision is made for the lower hatch to be provided for receiving the loads arranged on the seabed and/or for exchanging them for new loads. The upper hatch is preferably provided for withdrawal from or charging of the storage area when the submarine vehicle is located at the water's surface, on a ship and/or on a platform. Preferably, the upper hatch has larger dimensions than the lower hatch. In particular, the upper hatch is provided for the simultaneous withdrawal of and/or the simultaneous charging with several loads, while the load is in each case receivable or exchangeable individually through the lower hatch. Furthermore, it is conceivable for the upper hatch and/or the lower hatch to be closable and to be accordingly opened for receiving and/or discharging loads and to be closed for example for the time of the dive between two target positions.
A further embodiment of the present invention provides that the load transporting system comprises a lifting device, preferably a crane, for transporting the load in a substantially horizontal direction, wherein the load transporting system comprises a pickup device, preferably a suction bell or a grasper. As a result, the load can advantageously be raised, for example directly from the seabed, and conveyed into the storage area through the lower hatch or conveyed out of the storage area and out of the submarine vehicle through the open lower hatch and set down on the seabed. The lifting device with the pickup device can advantageously also be used for transporting loads within the storage area. As a result, it is advantageously possible to sort loads within the storage area, for example during a dive between two target positions, and to make the exchange of loads at the target position easier and/or quicker as a result of the newly created order. It is furthermore conceivable for the load transporting system to be configured such that, depending on the target position, the load transporting system selects that load from the large number of loads stored in the storage area that is intended for the respective target position.
A further embodiment of the present invention provides that the load transporting system comprises a rail system for transporting the load within the storage area. As a result of the rail system, the picked-up load can advantageously be transported within the storage area, preferably in a direction parallel to the longitudinal axis of the submarine vehicle. In particular, the entire available holding volume of the storage area can be used through the use of the rail system—even when there is a lower hatch with comparatively small dimensions relative to the storage area. In this case, the lifting device is preferably connected to the rail system via a trolley that is movable along the rail system.
A further embodiment of the present invention provides that the submarine vehicle comprises a grasping device, wherein the grasping device comprises a catching arm, preferably a plurality of catching arms, for catching a cable fastened to the load, wherein the submarine vehicle comprises a winch for raising the load, wherein the submarine vehicle comprises a pickup carriage for arranging beneath the raised load, wherein the submarine vehicle comprises a cutting device for cutting the cable. In this case, provision is made in particular for a cable to be fastened to the load to be picked up, wherein the cable extends, on account of its own buoyancy or in a manner brought about by a buoyant element or buoyant body, from the load arranged on the seabed in the direction of the water's surface. A guide on the submarine vehicle guides the cable floating up to the water's surface to the catching arms on the winch of the grasping device, wherein the guide is preferably designed such that when the submarine vehicle moves in the direction of travel, it at least partially guides the cable. Preferably, the submarine vehicle is in motion during capture and the cable is picked up by the catching arms of the winch. As a result of the winch being set into operation, the load can be raised from the seabed, in that the winch winds up the cable. In particular, the load is raised with the winch until the pickup carriage, which is preferably displaceable in a direction extending substantially parallel to the longitudinal axis of the submarine vehicle, is able to be placed under the raised load. Furthermore, provision is made for the pickup carriage to be displaceable reversibly between a first operating position, in which the pickup carriage is arranged at least partially beneath the grasping device, and a second operating position, in which the pickup carriage is arranged at least partially beneath the lower hatch. In particular, the first operating position is taken up as soon as the load has been raised by the winch. Subsequently, the winch unwinds the cable again in continued operation until the load is positioned on the pickup carriage in the first operating position. Subsequently, the pickup carriage is transferred into the second operating position. The load can then advantageously be received in the storage area from the pickup carriage by means of the lifting device in the second operating position. In particular, by way of the grasping device, the load can be picked up during a dive, i.e. with a submarine vehicle in motion. As a result, it is advantageously possible to dispense with time-consuming maneuvering, by way of which the submarine vehicle would otherwise have to be oriented until the lower hatch is arranged above the load arranged on the seabed.
A further embodiment of the present invention provides that the submarine vehicle comprises a plurality of pressure hulls, wherein the storage area is arranged between the pressure hull and a further pressure hull. Preferably, the storage area is arranged between the pressure hull and the further pressure hulls such that the storage area is protected from environmental influences by the pressure hull at least partially on the starboard and/or port side. In particular, provision is made for the height of the pressure hulls to define substantially the height of the submarine vehicle and for the pressure hulls to each be connected rigidly to the storage area via at least one connecting element.
A further embodiment of the present invention provides that the submarine vehicle comprises propulsion and maneuvering devices. By means of the propulsion and maneuvering devices, not only can the submarine vehicle be moved between two target positions, but a stable orientation of the submarine vehicle can be achieved with which the load can be received reliably in the storage area. For example, the submarine vehicle preferably comprises, as propulsion and maneuvering devices, a plurality of pivotable thrusters, ballast tanks and trim tanks and/or compensating tanks.
A further embodiment of the present invention provides that the submarine vehicle comprises a high-pressure pump for emptying, or pumping out, and filling, or flooding, a ballast tank, trim tank and/or compensating tank.
A further embodiment of the present invention provides that the submarine vehicle comprises a control unit for autonomous operation of the submarine vehicle during its dive, and/or that the submarine vehicle comprises an image acquisition unit for monitoring the surroundings. With the aid of the image acquisition unit, for example a camera or imaging sensor system, the submarine vehicle can be used to monitor tools or utensils arranged on the seabed. For example, pipelines which are provided for conveying hydrocarbons can be observed or checked.
A further embodiment of the present invention provides that, in the longitudinal direction of the submarine vehicle, the length of the storage area corresponds substantially to the length of the pressure hull. As a result, the storage area is extensively protected by the pressure hulls on the starboard side and/or port side, without it having to be surrounded entirely by a pressure hull. Furthermore, the propulsion and maneuvering devices can preferably be arranged on the pressure hull. As a result of the regular distribution of the propulsion and maneuvering devices along the longitudinal axis of the storage area, an irregular load distribution in the storage area can advantageously be compensated for. Otherwise, under certain circumstances, an irregular load distribution could result in the submarine vehicle tipping when the propulsion and maneuvering devices are limited to only one, comparatively small, area. In particular, as a result of the regular distribution of the propulsion and/or maneuvering device, an overall load that is as large as possible, for example consisting of the large number of loads stored in the storage area, can be conveyed. Furthermore, the submarine vehicle can move in as flexible and uncomplicated a manner as possible as a result of the regular distribution.
A further embodiment of the present invention provides that the submarine vehicle is configured for use from an offshore platform or a ship. Preferably, the ship and/or the offshore platform are also designed to receive the submarine vehicle. Preferably, ports are provided, via which fuel cell propellants (starting materials) are able to be filled into the corresponding fuel cell tanks of the submarine vehicle. Preferably, the submarine vehicle is filled and/or refueled in the moon pool of a ship or offshore platform, on the deck of a ship or offshore platform, or in an internal floating dock or a well deck of a ship or offshore platform. Preferably, filling or refueling takes place on calm seas. For further maintenance work, for example the cleaning of image acquisition units, divers are used or the submarine vehicle is lifted onto the deck of the offshore platform or ship by means of a powerful lifting device.
A further subject of the present invention is a method for picking a load up from the seabed using a submarine vehicle according to the invention as claimed in one of the preceding claims, wherein the load is picked up with the load transporting system.
In contrast to the prior art, the method can be repeated at different target positions during a dive on account of the suitably selected storage area. As a result, the method can advantageously be used to exchange loads extensively on the seabed.
A further embodiment provides that, prior to the pickup operation, i.e. temporally before the load arranged on the seabed is picked up, the submarine vehicle is maneuvered until the lower hatch is oriented above the load.
A further embodiment of the present invention provides that, prior to the pickup operation, a cable fastened to the load is grasped by a grasping device of the submarine vehicle, wherein the load is raised via the cable by means of the winch, wherein the pickup carriage is arranged beneath the raised load, wherein the load is set down on the pickup carriage by means of the winch and the pickup carriage with the set-down load is moved such that the load is arranged beneath the lower hatch. In particular, provision is made for the load to be picked up from the seabed during the dive, i.e. with a submarine vehicle in motion. As a result, time can advantageously be saved while the load is being picked up.
A further subject of the present invention is a method for setting a load down on the seabed using a submarine vehicle according to the invention, wherein the load is set down on the seabed with the load transporting system. As a result of the suitably selected storage area, a large number of loads can be set down on the seabed in an uncomplicated manner during a dive.
A further embodiment of the present invention provides that the load fastened to the pickup device is conveyed through the lower hatch and set down on the seabed.
Further details, features and advantages of the invention can be gathered from the drawings and from the following description of preferred embodiments with reference to the drawings. In this case, the drawings illustrate merely exemplary embodiments of the invention which do not limit the concept of the invention.
In the various figures, identical parts are always provided with the same reference signs and are therefore also each named or mentioned only once as a rule.
Provision is furthermore made for the submarine vehicle 1 to comprise a grasping device for picking up the loads 56. In particular, the grasping device comprises a winch 41 with one or more catching arms 57.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2014 111 649.6 | Aug 2014 | DE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2015/065249 | 7/3/2015 | WO | 00 |
