Capture and docking apparatus, method, and applications

摘要

Apparatus and methods to operationally link (couple/decouple) a plurality of relatively massive, complimentary payload platforms (i.e., suspended machinery and ROV) at relatively deep working depths in an unstable marine environment (water column) while the payload platforms are in-transit. An apparatus includes a suspended machinery, an ROV, a capture collar, an extendable/retractable harpoon, and actuating machinery to controllably effect extension and retraction thereof. A method includes providing an in-transit suspended machinery having a capture collar, providing an in-transit ROV having an extendable/retractable harpoon, approaching the in-transit suspended machinery with the ROV, maneuvering the ROV so as to bring an end of the partially extended harpoon into aligned proximity with the capture collar, and further extending the harpoon so that it securely engages the capture collar.

主权项

1. An apparatus enabling the capture and release by an in-transit ROV in a water column of an in-transit suspended machinery in the water column that is suspended from a link from an in-transit marine surface vessel, platform, or other surface or sub-surface structure, comprising:
a suspended machinery; an ROV; a capture/release mechanism disposed in one of the ROV and the suspended machinery; a linearly extendable/retractable harpoon respectively disposed in one of the suspended machinery and the ROV, wherein the harpoon has a geometrically-shaped, capture head and a capture groove, further characterized in that the harpoon has no moving parts, further wherein the capture/release mechanism is a bi-stable, push-to-capture and lock/push-to-release mechanism; and actuating machinery associated with the linearly extendable/retractable harpoon to controllably effect linear extension and retraction thereof.