A SYSTEM FOR MAINTAINING A PREDETERMINED ROLL ANGLE OF A MARINE VESSEL

Abstract

A system for maintaining a predetermined roll angle of a hull of a marine vessel, the system comprising: a stabilisation element arranged below the waterline on an outer surface of the hull, a sensor unit providing a first sensor data providing information relating to the movement and/or positioning of the marine vessel, a processing unit 5 receiving the first sensor data and providing a first control output, a control unit receiving the first control output and providing a first control input to the stabilisation element to counteract a rolling movement and/or positioning of the marine vessel.

Claims

1. A system for maintaining a predetermined roll angle (heel) of a hull of a marine vessel, the system comprising: a stabilisation element arranged below the waterline on an outer surface of the hull, the stabilisation element comprising a body having a pivotal connection to the hull, a sensor unit providing first sensor data providing information relating to the movement and/or positioning of the marine vessel, a processing unit receiving the first sensor data and providing a first control output, and a human interface unit receiving a predetermined roll angle input from a user and providing a second control input to the processing unit, a control unit receiving the first control output and providing a first control input to the stabilisation element to counteract a rolling movement and/or positioning of the marine vessel.

2. A system for stabilisation in accordance with claim 1, where the system is configured to stabilise the roll of the marine vessel.

3. A system for stabilisation in accordance with claim 1, wherein the hydrodynamic keel may be a counterweight keel and/or a positive buoyancy keel (floatation body keel).

4. A system for stabilisation in accordance with claim 1, wherein the system may be at least part of an overboard recovery system.

5. A system for stabilisation in accordance with claim 1, wherein the marine vessel is a marine vessel comprising a lifting crane and/or a lifting hoist.

6. A system for stabilisation in accordance with claim 1, wherein the stabilisation element is configured to counteract a rolling movement of the hull of the marine vessel in relation to wave movement of the surrounding body of water that interacts with the hull.

7. A system for stabilisation in accordance with claim 1, wherein the control input controls an angular movement of the stabilisation element.

8. A system for stabilisation in accordance with claim 1, wherein the angular movement of the stabilisation element may be relative to a vertical axis and/or a longitudinal plane of the marine vessel.

9. A system for stabilisation in accordance with claim 1, wherein the system further comprises a positioning unit providing a first positioning output which provided as input to the processing unit.

10. A system for stabilisation in accordance with claim 1, wherein the system may be configured to be operated during speeds in a forward and/or backward direction that are lower than 5 knots, or lower than 3 knots, or lower than 1 knot.

11. A system for stabilisation in accordance with claim 1, wherein the system is an active stabilisation system, and where the system reacts to the movement of the marine vessel.

12. A system for stabilisation in accordance with claim 1, wherein the predetermined roll angle is in a starboard and/or a port direction.

13. A system for stabilisation in accordance with claim 1, wherein the sensor unit may be one or more of the following: gyroscope, accelerometer, GPS, proximity sensor, magnetometer, barometer, roll sensor, pitch sensor, heave sensor, velocity sensor, or any kind of sensors that are capable of registering the motion of the hull of a marine vessel.

14. A system for stabilisation in accordance with claim 1, wherein the predetermined roll angle is greater than 0 degrees in a starboard and/or a port direction of the hull, preferably wherein the predetermined roll angle is greater than 1 degree in a starboard and/or a port direction.

15. A method for maintaining a predetermined roll angle of a hull of a marine vessel, the method comprising: providing a first sensor data providing information relating to the movement and/or positioning of the marine vessel, receiving the first sensor data and providing a first control output, providing a human interface unit receiving a predefined roll angle input from a user and providing a second control input to the processing unit, receiving the first control output and providing a first control input to a stabilisation element that is arranged below the waterline on an outer surface of a hull and having a body having a pivotal connection to the hull to counteract a movement and/or a positioning of the marine vessel.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The following is an explanation of exemplary embodiments with reference to the drawings, in which:

[0055] FIG. 1 shows a side view of a floating marine vessel in accordance with the present disclosure,

[0056] FIG. 2 shows a front view of a floating marine vessel in accordance with the present disclosure,

[0057] FIGS. 3A-3B show a front view of a floating marine vessel during a recovery operation in accordance with the present disclosure,

[0058] FIG. 4 shows a perspective view of a floating marine vessel during a recovery operation in accordance with the present disclosure,

[0059] FIG. 5 shows a schematic view of a system for maintaining a predetermined roll angle of a hull of a marine vessel in accordance with the present disclosure,

[0060] FIG. 6 shows a front view of a floating marine vessel having a crane in parked position,

[0061] FIG. 7 shows a front view of a floating marine vessel having a crane in operation and having a positive buoyancy keel, and

[0062] FIG. 8 shows a front view of a floating marine vessel having a crane in operation and a counterweight keel.

DETAILED DESCRIPTION

[0063] Various exemplary embodiments and details are described hereinafter, with reference to the figures when relevant. It should be noted that the figures may or may not be drawn to scale and that elements of similar structures or functions are represented by like reference numerals throughout the figures. It should also be noted that the figures are only intended to facilitate the description of the embodiments. They are not intended as an exhaustive description of the disclosure or as a limitation on the scope of the disclosure. In addition, an illustrated embodiment needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular embodiment is not necessarily limited to that embodiment and can be practiced in any other embodiments even if not so illustrated, or if not so explicitly described.

[0064] FIG. 1 is a side view of a floating marine vessel 2, or a boat 2, where the marine vessel 2 has a hull 4, having an outer surface 10 as well as a stern part 6 and a bow part 8. The hull has a deck 12, where the deck may have a deckhouse 14 which may comprise the controls for the steering and the propulsion of the marine vessel 2.

[0065] The hull has a waterline 16 which represents the surface of the water 18 when the hull is not moving. The hull may have a starboard side 20 and a port side 22 (not shown), as well as a longitudinal axis A. The starboard side 20 has a gunwale 24 that has a height h1 which extends from the waterline 16 and towards the top 26 of the starboard side 20 of the hull 4. The same may be stated about the port side 22, which is not shown. The starboard side 20 may comprise a hatch 28 which is watertight when closed, but when open provides an opening 30 in the starboard side 20, where the opening of the hatch 28 may decrease the height h2 gunwale 24 in the region of the hatch. The hatch 28 may be opened e.g. in a situation where a recovery operation has to be performed from the water surface 18 and onto the deck 12 of the marine vessel 2.

[0066] The marine vessel 2 may, furthermore, comprise a stabilisation element 32, which in this example is in the form of a positive buoyancy body (air filled floatation body) 34 and a fin 36, which is connected via a pivotal connection 38 to the outer surface 40 of the hull 4, allowing the stabilisation element 32 to pivot along a pivotal axis B in a starboard 20 direction and/or a port 22 direction. The stabilisation element 32 may be connected to a drive unit 42 e.g. via a transmission 44, where the drive unit 42 may be a motor, and optionally an electrical motor. The transmission 44 may be adapted to transfer a force from the drive unit 42 towards the stabilisation element 32, where the force may be used to manoeuvre the stabilisation element 32 from a first position to a second position, and/or may alternatively be used to maintain the current position of the stabilisation element 32. The drive unit 42 (control unit) may be connected to a processing unit 46, where the processing unit 46 provides control output which is configured to control the drive unit, and to provide instructions to the drive unit, in order to change or maintain the position of the stabilisation element 32. The processing unit may be a CPU or similar electrical equipment, where the processing unit 46 may be utilised to gather information and based on the information provide a control output to control the movement of the stabilisation element 32.

[0067] The marine vessel may comprise a sensor unit 48, such as a gyroscope and/or a accelerometer, which is connected to the processing unit 46, providing sensor input to the processing unit, where the sensor input relates to forces that affect the hull of the boat, such as rolling motion of the hull due to wind, wave or current conditions that affect the marine vessel 2. The sensor input may be transmitted to the processing unit, where the processing unit receives the sensor input in the form of e.g. electrical signals, where the processing unit 46 processes the sensor input based on rules or algorithms, and provides a control input to the drive unit 42, where the drive unit provides a control input to the stabilisation element, to control the movement of the stabilisation element 32.

[0068] FIG. 2A is a front view of a marine vessel 2, shown in FIG. 1, having a starboard side 20 and a port side 22, where the outer surface of the hull 40 is provided with a stabilisation element 32, which is connected to the outer surface of the hull 40 via a pivotal connection 38. The stabilisation element 32 may be a positive buoyancy body 34 connected via a fin 36, where the stabilisation element 32 may be moved from a first position C1 to a second position C2, using the drive unit to provide mechanical force to move the stabilisation element 32. The movement of the stabilisation element 32 may be used to maintain the absolute roll position of the hull 4 in the water, so that when waves 52 hit the outer surface 10 of the hull 4 and to maintain the angle between a vertical axis D and a transverse axis E of the hull. Thus, the roll of the body in a starboard direction X or in a port direction Y may be minimised, by a movement 54 of the stabilisation element 32 to counteract the movement of the hull when hit by a wave 52.

[0069] FIGS. 3A and 3B show frontal views of a marine vessel 2, as seen in FIG. 1, where a person has fallen overboard. The system for maintaining a predetermine roll angle (not shown) may be activated, where the stabilisation element is moved in a port direction Y, causing the marine vessel 2 to roll towards its starboard 22, so that the top of the hull 26 is moved closer to the surface of the water at the starboard side 22. This may assist a person aboard the marine vessel 2 to lift the person 50 out of the water, as the hull may be rolled towards the starboard side, thereby minimising the force required to pull the person 50 from the water surface 18 and onto the deck 12 of the marine vessel 2, as seen in FIG. 3B. When the marine vessel is rolled in the starboard direction, the sensors 48, the processing unit 46 and the drive unit may control the movement of the stabilisation element 32 so that the hull is maintained at its angle relative to the true vertical axis D, even though it is hit by waves 52 on the port side 22 and/or the starboard side 20.

[0070] FIG. 4 is a perspective view of a marine vessel 2, which is floating in a body of water having a water surface 18, where a person 50 may be recovered via a hatch 28 opening 30, onto the deck 12 of the hull 4. The opening reduces the height of the gunwale 24 and shortens the distance to the inner surface 54 of the hull, which makes it easier to pull a person into the marine vessel 2. The marine vessel 2 may be provided with a system for maintaining a predetermined roll angle, as seen in FIG. 1, and disclosed in the present disclosure, where the system may be adapted to maintain a predetermined roll angle of the hull to e.g. a starboard side 20, as seen in FIG. 4, during a recovery operation.

[0071] FIG. 5 shows a schematic view of a system 60 for maintaining a predetermined roll angle of a hull of a marine vessel. The system 60 comprises a sensor unit 62 which may provide a first sensor data 64 into a processing unit 66. The system may optionally comprise a positioning unit 68 providing positioning data 70 to the processing unit 66. The processing unit 66 may be connected to a control unit 72, where the processing unit 66 may transmit a first control output 74 to the control unit 72. The control unit 72 may further transmit a second control output 76 to the processing unit, where the second control output may comprise information on the position of the stabilisation element, or other information relating to the control unit and stabilisation element. The control unit 72 may transmit a control input 78 to the stabilisation element 80 and/or a transmission 82 which may be part of the stabilisation element and/or the control unit 72 to control the movement of the stabilisation element 80. The transmission 80 and/or the stabilisation element 78 may provide a second control input 84 to the control unit, where the second control output 84 may indicate a position and/or status of the stabilisation element 80.

[0072] FIG. 6 shows a marine vessel 100, where the marine vessel 100 may be a marine vessel having a crane 102. The marine vessel may be floating on a body of water 104, where the crane 102 may be in its parked position during transit. The crane may comprise a rotatably mounted post 106, where the post may be connected to a telescopic arm 108 having a proximal end 110 and a distal end 112. The distal end 112 may comprise a connecting device 114, where the connecting device may be configured to connect the telescopic arm 108 to the object to be lifted.

[0073] In this transit position, the telescopic arm is retracted, where the crane is positioned within the boundary of the marine vessel 100 and does therefore not alter the centre of buoyancy or the centre of gravity CG of the marine vessel 100, which means that the marine vessel 100 does not require the use of a stabilisation element during transit, and a stabilisation element is therefore not depicted in the present figure. The centre of gravity CG of the marine vessel 100 may be seen as being in line with a true vertical axis D, which means that when the crane 102 is in its parked position, it does not change the centre of gravity GC of the marine vessel. If the stabilisation element were to be depicted, it could be positioned in the neutral position, as the centre of gravity GC is balanced for the marine vessel.

[0074] FIG. 7 shows a marine vessel 100, where the crane 102 is in operation, where the connecting device 114 is connected to a load 116 that is to be lifted. The telescopic arm 108 is shown as extending beyond the sides 118 of the hull 120, and where the load 116 may be moved from a direction towards the hull 120 or a direction away from the hull 120. The extension of the telescopic arm 108 beyond the side 118 of the hull means that the centre of gravity CG of the marine vessel 100 is moved in a sidewards direction at a distance d1 in a direction towards the load 116 and/or the distal end 112 of the telescopic arm 108. The movement of the centre of gravity CG in a horizontal direction means that the marine vessel has a natural tendency to roll in a direction towards the load 116. However, by providing a stabilisation element 124 that is pivotally connected to the outer surface 122 of the hull 120, it is possible to provide a counterforce to counteract the rolling movement of the marine vessel 100. In this example, the stabilisation element 124 may be a positive buoyancy stabilisation element 124, where the stabilisation element may be pivoted in a direction towards the load 116 and/or the distal end 112 of the telescopic arm 108. The system for maintaining a predetermined roll angle may move the stabilisation element 124, allowing the marine vessel 100 to maintain its predetermined roll angle while operating the crane 102.

[0075] The positive buoyancy stabilisation element 124 will provide increased buoyancy in a position below the hull where the centre of gravity CG has moved, and where the sensors of the system according to the present disclosure may monitor the roll angle of the marine vessel and provide the stabilisation element 124 with a control input to counteract the rolling movement of the marine vessel during the operation of the crane 102. Thus, it may be possible to maintain the roll angle of the marine vessel during the operation of the crane.

[0076] It may also be understood that the positive buoyancy stabilisation element 124 will further provide increased buoyancy to the marine vessel, where the buoyancy of the hull may be increased in the side of the hull which is being used to operate the telescopic arm of the crane. Thus, the system will monitor the roll angle of the marine vessel, and upon any movement of the crane and/or load which changes the centre of gravity CG of the marine vessel, the stabilisation element 124 will counteract the movement and ensure that the roll position is maintained during the operation.

[0077] FIG. 8 shows a similar situation as that shown in FIG. 7, where the difference is that the stabilisation element may be a counterweight keel. Thus, when the telescopic arm 108 extends away from the hull, the counterweight keel may be pivoted towards the opposite direction of the extension of the crane and thereby counteract the movement of the centre of gravity CG of the hull and the crane. The movement of the centre of gravity CG in a horizontal direction means that the marine vessel has a natural tendency to roll in a direction towards the load 116. However, by providing a stabilisation element 126 that is pivotally connected to the outer surface of the hull 120, it is possible to provide a counterforce to counteract the rolling movement of the marine vessel 100.

[0078] The use of the terms first, second, third and fourth, primary, secondary, tertiary etc. does not imply any particular order but are included to identify individual elements. Moreover, the use of the terms first, second, third and fourth, primary, secondary, tertiary etc. does not denote any order or importance, but rather the terms first, second, third and fourth, primary, secondary, tertiary etc. are used to distinguish one element from another. Note that the words first, second, third and fourth, primary, secondary, tertiary etc. are used here and elsewhere for labelling purposes only and are not intended to denote any specific spatial or temporal ordering.

[0079] Furthermore, the labelling of a first element does not imply the presence of a second element and vice versa.

[0080] It is to be noted that the word comprising does not necessarily exclude the presence of other elements or steps than those listed.

[0081] It is to be noted that the words a or an preceding an element do not exclude the presence of a plurality of such elements.

[0082] It should further be noted that any reference signs do not limit the scope of the claims.

[0083] Although features have been shown and described, it will be understood that they are not intended to limit the claimed invention, and it will be made obvious to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the claimed invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than restrictive sense. The claimed invention is intended to cover all alternatives, modifications, and equivalents.

Items

[0084] 1. A system for maintaining a predetermined roll angle (heel) of a hull of a marine vessel, the system comprising: [0085] a stabilisation element arranged below the waterline on an outer surface of the hull, [0086] a sensor unit providing first sensor data providing information relating to the movement and/or positioning of the marine vessel, [0087] a processing unit receiving the first sensor data and providing a first control output, [0088] a control unit receiving the first control output and providing a first control input to the stabilisation element to counteract a rolling movement and/or positioning of the marine vessel. [0089] 2. A system for stabilisation in accordance with item 1, where the system is configured to stabilise the roll of the marine vessel. [0090] 3. A system for stabilisation in accordance with item 1 or 2, wherein the hydrodynamic keel may be a counterweight keel and/or a positive buoyancy keel (floatation body keel). [0091] 4. A system for stabilisation in accordance with any of the preceding items, wherein the system may be at least part of an overboard recovery system. [0092] 5. A system for stabilisation in accordance with any of the preceding items, wherein the stabilisation element comprises a body that has a pivotal connection to the outside of the hull. [0093] 6. A system for stabilisation in accordance with any of the preceding items, wherein the stabilisation element is configured to counteract a rolling movement of the hull of the marine vessel in relation to wave movement of the surrounding body of water that interacts with the hull. [0094] 7. A system for stabilisation in accordance with any of the preceding items, wherein the control input controls an angular movement of the stabilisation element. [0095] 8. A system for stabilisation in accordance with any of the preceding items, wherein the angular movement of the stabilisation element may be relative to a vertical axis and/or a longitudinal plane of the marine vessel. [0096] 9. A system for stabilisation in accordance with any of the preceding items, wherein the system further comprises a positioning unit providing a first positioning output which is provided as input to the processing unit. [0097] 10. A system for stabilisation in accordance with any of the preceding items, wherein the system further comprises a human interface unit receiving a predetermined roll angle from a user and providing a second control input to the processing unit. [0098] 11. A system for stabilisation in accordance with any of the preceding items, wherein the system is an active stabilisation system, and where the system reacts to the movement of the marine vessel. [0099] 12. A system for stabilisation in accordance with any of the preceding items, wherein the predetermined roll angle is in a starboard and/or a port direction. [0100] 13. A system for stabilisation in accordance with any of the preceding items, wherein the sensor unit may be one or more of the following: gyroscope, accelerometer, GPS, proximity sensor, magnetometer, barometer, roll sensor, pitch sensor, heave sensor, velocity sensor, or any kind of sensors that are capable of registering the motion of the hull of a marine vessel. [0101] 14. A system for stabilisation in accordance with any of the preceding items, wherein the predetermined roll angle is greater than 0 degrees in a starboard and/or a port direction of the hull, preferably wherein the predetermined roll angle is greater than 1 degree in a starboard and/or a port direction. [0102] 15. A method for maintaining a predetermined roll angle of a hull of a marine vessel, the method comprising the steps of: [0103] providing first sensor data providing information relating to the movement and/or positioning of the marine vessel, [0104] receiving the first sensor data and providing a first control output, and [0105] receiving the first control output and providing a first control input to a stabilisation element that is arranged below the waterline on an outer surface of a hull to counteract a movement and/or a positioning of the marine vessel.

LIST OF REFERENCES

[0106] 2 Marine vessel [0107] 4 Hull [0108] 6 Stern part [0109] 8 Bow part [0110] 10 Outer surface [0111] 12 Deck [0112] 14 Deckhouse [0113] 16 Waterline [0114] 18 Surface of water [0115] 20 Starboard side [0116] 22 Port side [0117] 24 Gunwale [0118] 26 Top of hull [0119] 28 Hatch [0120] 30 Opening in Hatch [0121] 32 Stabilisation element [0122] 34 Positive buoyancy body [0123] 36 Fin [0124] 38 Pivotal connection [0125] 40 Outer surface of hull [0126] 42 Drive unit [0127] 44 Transmission [0128] 46 Processing unit [0129] 48 Sensor unit [0130] 50 Person [0131] 52 Wave [0132] 54 Inner Surface of hull [0133] 60 System for maintaining a predetermined roll angle of a hull of a marine vessel [0134] 62 Sensor unit [0135] 64 First sensor data [0136] 66 Processing unit [0137] 68 Positioning unit [0138] 70 Positioning data [0139] 72 Control unit [0140] 74 First control output [0141] 76 Second control output [0142] 78 Control input [0143] 80 Stabilisation element [0144] 82 Transmission [0145] 84 Second control output [0146] 100 Marine vessel [0147] 102 Crane [0148] 104 Body of water [0149] 106 Rotatably mounted Post [0150] 108 Telescopic arm [0151] 110 Proximal End of telescopic arm [0152] 112 Distal End of telescopic arm [0153] 114 Connecting device [0154] 116 Load [0155] 118 Side of hull [0156] 120 Hull [0157] 122 Outer surface of hull [0158] 124 Positive buoyancy stabilisation element [0159] 126 Counterweight stabilisation element [0160] A Longitudinal axis [0161] B Pivot axis [0162] C1 First position of stabilisation element [0163] C2 Second position of stabilisation element [0164] D True vertical axis [0165] E Transverse axis of marine vessel [0166] X Starboard direction [0167] Y Port side direction [0168] CG Centre of gravity [0169] h1 Height gunwale [0170] h2 Height gunwale under hatch [0171] d1 Distance of travel Centre of gravity