Abstract:
A sluice device suitable for a remotely cable operated vehicle. A water tight compartment has a first and a second sluice gate. The sluice device includes a system for enabling launching, operating, and retrieving of the remotely cable operated vehicle. An insert for converting an existing torpedo tube to a sluice device, and a torpedo shaped transport container for an insert.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to European patent application 07113109.8 filed 25 Jul. 2007 and is the national phase under 35 U.S.C. §371 of PCT/EP2008/059587 filed 22 Jul. 2008. 
     TECHNICAL FIELD OF THE INVENTION 
     The present invention refers to sluice devices for remotely cable operated underwater vehicles. It also refers to an insert for upgrading an existing torpedo tube of a submarine to become such a sluice device. 
     BACKGROUND OF THE INVENTION 
     “Remotely operated vehicle” (ROV) is a term normally used to designate an under-water vehicle operated from a surface vessel via a cable, said cable is sometimes called “tether”, or “umbilical cord” or just “umbilical”, with or without the extension “cable”. The purpose of operating the ROV may be all kinds of missions, for example technical maintenance of underwater installations within the offshore industry, search, investigation of accidents or surfacing of parts from crashed aircraft or sunken vessels, or general research of sea bed. 
     Another purpose, and a main reason for using an ROV in a defense application, is the advantage to be able to perform operations in a concealed manner, hidden from enemy eyes and ears. Such operations may include surveillance missions etc. 
     However, at great depths the lengths of the umbilical cable may become a practical problem. It would therefore be convenient if the ROV could be operated from a submarine, which could bring the ROV close to the object of interest, thereby eliminating at least part of the need of cable length from surface down to operating depth. 
     Another benefit of operating the ROV from a submarine would be the almost lack of bad weather conditions. Surface storms, heave of the sea, and similar conditions are not present below the sea surface. This would therefore allow missions to be initiated without waiting for good weather. 
     U.S. Pat. No. 4,306,413 disclose a hydraulic power and control system for an elongated container able to house an underwater vehicle and which is capable of being mounted on the deck of a submarine. The container has top door means capable of being opened for release or recovery of the underwater vehicle. 
     The article “EURODOCKER—A Universal Docking—Downloading—Recharging System for AUVs: Conceptual Design Result” by Attilio Brighent et al, OCEANS &#39;98 CONFERENCE PROCEEDINGS NICE, FRANCE 28 Sep. -1 Oct. 1998, NEW YORK, N.Y., USA, IEEE, US, vol 3, September 1998 (1998-Sep.-28) pages 1463-1467, XP010311858 ISBN: 0-7803-5045-6 discloses a managing system for AUVs (Autonomous Underwater Vehicles) including a submerged docking station for AUVs. 
     EP 0 169 219 B1 describes a remotely operated underwater vehicle and method of operating the same. 
     EP 0 236 026 A2 describes a tether cable management apparatus and method for a remotely operated underwater vehicle. 
     U.S. Pat. No. 5,868,524 describe a clamp system and method for connecting tubular bodies together. 
     The use of wires to control a torpedo is well known in the art. However the problem of controlling a torpedo is different from that of controlling an ROV. First, a torpedo is a disposable, single use type of equipment. Therefore, there is no incentive for developing torpedo tubes and wire control devices that enable control of a torpedo to return to the submarine and swim back into the torpedo tube. On the contrary, this could be a very risky endeavour. 
     On the other hand, when operating an ROV it would be highly desirable to have the possibility to make the ROV to return to the submarine where it was launched and to completely retrieve it. 
     A first problem to be solved is how to rewind umbilical cable when the ROV returns to the submarine. A second problem is how to avoid the cable from becoming entangled. A third problem is how to prevent the cable from wearing against parts of the sluice device and/or the submarine itself A fourth problem is to provide a device for solving the first and second problem easily and at a reasonable cost. 
     It is an object of the present invention to provide a device that solves the above described problems. 
     This object is fulfilled according to the invention by a sluice device. 
     SUMMARY 
     In fact, the present invention refers to a sluice device, such as a torpedo tube of a submarine, which has been provided with means for allowing a cable operated ROV to be launched, operated and retrieved with the aid of said sluice device. The sluice device is provided with a telescopic cable guide apparatus for guiding the cable via a pulley arrangement arranged at its distal end. The cable guide apparatus is able to telescopically fold between an extended position and a folded position within the sluice device, thereby making it possible to close a distal sluice gate of the sluice device. 
     Further, the sluice device is provided with a constant tension cable winch to keep a constant tension in the tether cable, for preventing the cable from getting tangled. The sluice is further provided with proper cable guiding means for guiding the cable from the pulley arrangement in the distal end of the telescopic cable guide apparatus to the cable winch. 
     In preferred embodiments the sluice device for operating an ROV is achieved by combining an existing torpedo tube with a special torpedo tube insert, the insert comprising the necessary parts to convert the torpedo tube to a sluice device for an ROV as described above, i.e., it comprises a telescopic cable guide and a cable winch and possibly an emergency cable cutter. 
     In a further preferred embodiment the insert is provided as part of a torpedo shaped transport container having the dimensions and shape of a torpedo for the torpedo tube such that taking aboard and installation can be performed easily in the submarine. The container also having the ability to house all necessary equipment to be able to operate the ROV, e.g., the ROV itself, an operators console, power and control electronics. Special tools necessary for mounting may also be housed. 
     The transport container is provided with means for securing the necessary equipment to the inside of the transport container. The transport container is further provided with means to be opened and stored onboard the submarine, where it will serve as a storage device for the necessary equipment. Approximately half-way its middle third the transport casing is divisible into a wet end portion and a dry end portion. The wet end portion is intended to be mounted inside the torpedo tube, and is provided with means to house the ROV itself and the cable cutter and cable winch. The dry end portion is intended to be mounted in a suitable place within the submarine to allow an operator to control the ROV. 
     Thus accordingly, there is provided a kit of parts comprising the parts of the torpedo tube insert and transport container of above and further comprising an operators console and a power electronics cabinet, and a control electronics cabinet, and where the transport container and the console and cabinets are adapted such that the operators console and the power electronics cabinet, and the control electronics cabinet are contained and enclosed within the torpedo shape of said transport container and within standard torpedo dimensions of said transport container. The operators console and the power electronics cabinet, and the control electronics cabinet are arranged in the dry end portion. The dry end portion and the wet end portion are separated by a dividing wall. The cable winch and cable guiding machinery, including the telescopic guiding apparatus as described above is arranged in the wet end portion. A such kit of parts solves much of the practical problems concerning ease of transport and installation arising when trying to modify an existing torpedo tube onboard an existing submarine to be able to function as a launching and retrieval device for a cable controlled, remotely operated vehicle. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments of the invention will now be described, by way of example, with reference to the accompanying drawings, wherein: 
         FIG. 1   a  shows a side view of an ROV sluice device in an ROV operating position. 
         FIG. 1   b  shows the ROV sluice device of  FIG. 1   a  as seen from above. 
         FIG. 2   a  shows a side view of the sluice device of  FIG. 1   a  in a stand by position. 
         FIG. 2   b  shows the sluice device of  FIG. 2   a  as seen from above. 
         FIG. 3   a  shows a side view of a transport container for an ROV system including a tube converting insert. 
         FIG. 3   b  shows the transport container of  FIG. 3   a  as seen from above. 
         FIG. 4   a  shows winch box and a winch drum together with a first cable guide organ for sluice device of  FIG. 1   a.    
         FIG. 4   b  shows a third cable guiding organ for the sluice device of  FIG. 1   a.    
     
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
       FIG. 1   a  shows a side view, and  FIG. 1   b  shows a view from above, of an ROV sluice device  100  in an ROV operating position. Within a torpedo tube  101  is provided a winch box  115  comprising a winch drive motor and control electronics for unwinding and winding the umbilical cable with even tension. The box may also include power conversion means for providing appropriate power for drive motor. The winch drive motor is mechanically connected to a winch drum  125 . The winch drum  125  is preferably arranged having its axis of rotation parallel with the length axis of the torpedo tube  101 . 
     Inside the torpedo tube  101  is mounted a rail  110  for a telescopic cable guide  135 . The telescopic cable guide comprises preferably an elongated member  135  slideable along the rail  110  from a folded position where it is contained within the length of the torpedo tube  101 , to an extracted position where a distal end  145  of the elongated member becomes positioned a distance outside the submarine outside hull. The elongated member  135  is provided with appropriate first  120  , second  122 , and third  145  cable guiding organs for appropriately guiding the cable  150  from the cable drum  125  to alongside the rail, further along the elongated member  135 , and further, at the distal end, guiding the cable  150  between the distal end  145  of the elongated member  135  and the ROV  155 . In fig. la and b the telescopic cable guide  135  is shown in an extracted position. The telescopic cable guide is preferably arranged to be extracted by the movement of the ROV  155  when the ROV  155  is launched, and folded by the force exerted by the cable winch when the ROV  155  is pulled back into the torpedo tube  101 . In another embodiment the extraction and withdrawing of the elongated member  135  may be accomplished by means of a separate drive organ, e.g., an electric motor properly coordinated with the winch drum drive motor. The elongated member  135  is preferably hollow, i.e., of a tubular design, allowing the cable to run inside the tubular design. 
     Shown on  FIG. 1   a  and  1   b  is also a front hatch  130  of the torpedo tube and the submarine outside hull  140 , represented by boxes  140 . A locking shoulder  105  may be provided to secure the rail to the torpedo tube wall. 
       FIG. 2   a  shows a side view of the sluice device of  FIG. 1   a  in a stand by position.  FIG. 2   b  shows the sluice device of  FIG. 2   a  as seen from above. 
     The inventive concept also comprises a method for converting an existing torpedo tube for regular torpedoes to a sluice device for a remotely cable operated vehicle, the method comprising the following steps:
         Providing a torpedo tube;   Providing an ROV insert;   Opening the rear hatch  210  of the torpedo tube  101 ;   Sliding the ROV insert via the torpedo tube rear hatch  210  into the torpedo tube;   Connecting control electronics of the ROV insert to an existing electrical internal connector of the interior of the torpedo tube.       

     The method may further comprise the following steps:
         Providing a container for ROV electronics and ROV operators console;   Mounting said operators console at a convenient place inside the submarine;   Mounting ROV electronics at a convenient place inside the submarine;   Connecting ROV electronics to submarine mains or similar;   Connecting electronics to torpedo tube external connector for connecting to winch and ROV via internal connector of torpedo tube.       

       FIG. 3   a  shows a side view of a transport container  300  for an ROV system including a torpedo tube converting insert. The container  300  having a front end  330  and an aft end  340 . The insert comprises an ROV launching frame  320  and a cable guidance system together with winch box and winch drum. The cable guidance system comprises a rail and an elongated member, and first, second and third cable guidance organs as described above. The transport container can be divided into a front  345  and an aft portion  350  along a dividing wall  310 . The dividing wall is preferably arranged somewhere between one third and two thirds of transport container length from aft end. The torpedo tube converting insert comprises front end of container and components as described above.  FIG. 3   b  shows the transport container of  FIG. 3   a  as seen from above. The aft portion  350  of the transport container  300  may hereinafter be referred to as the “dry portion of the container”. The dry portion of the container is devised to house, during transport, an operator&#39;s console  355 , a power electronics cabinet  360  and a control electronics cabinet  365 . 
       FIG. 4   a  shows a winch box  405  and a winch drum  415  together with a first cable guidance organ  425  for sluice device of  FIG. 1   a . Parallel to the axis of the cable drum  415  is arranged a diamond screw for distributing the cable evenly over the drum  415 . In alternative embodiments other organs for even distribution may be considered. 
     In a preferred embodiment a first cable guiding organ  420  comprises a cable guide member  425  that is arranged to be articulated such that it may turn around the diamond screw and guides the cable down towards the periphery of the cable drum  415 . The cable guide member  425  is preferably a curved sliding chute or a curved rail having a number of rolls enabling the cable to run with low friction. 
       FIG. 4   b  shows in a side view a third cable guiding organ  490  for the sluice device of  FIG. 1   a . The third cable guiding organ  490  is arranged at a distal end of the elongated member  430 . It comprises a first articulated joint  435  that permits a cable pulley with a further cable guiding member rotate freely around an axis parallel to a length axis of the elongated member  430 . The third cable guiding organ  490  further comprises a second articulated joint  440  permitting the further cable guiding member to pivot from approximately 5 to 90 degrees relatively to the direction of the length axis of the elongated member  430 . The first and second articulated joints  435 ,  440  may be combined in the same joint. The projection into the plane of the drawing of the range of movement  450  of the cable guide guiding organ is indicated by dashed line. Support wheels  445  are arranged where the cable  427  leaves and enters the cable guiding organ  490 . 
     Legend 
     
         
           100  Sluicing device 
           101  Torpedo tube 
           105  Locking shoulder 
           110  Rail/Guide 
           115  Winch and transformer 
           120  First cable guide 
           122  Second cable guide 
           125  Winch drum 
           130  Distal sluice gate 
           135  Cable protection with explosive bolt 
           140  Submarine outer hull 
           145  Cable pulley 
           150  Umbilical cable 
           155  ROV 
           205  Wet end of torpedo tube insert 
           300  ROV system transport container 
           305  Dry portion of transport container 
           310  Dividing wall 
           400  Cable management device 
           405  Winch box 
           410  Diamond screw 
           415  Cable drum 
           425  Cable guide member 
           427  Cable 
           430  Elongated member 
           435  Articulated joint  1   
           440  Articulated joint  2   
           445  Support wheels 
           450  Range of movement 
           490  Third cable guide