Vessel with active mechanism for controlled towing

Abstract

A vessel for towing a towed body in or on a body of water is disclosed. The vessel includes a vessel, a tow arm mechanism carried by the vessel, a towed body linked to the tow arm mechanism, and at least one sensor carried by either the vessel or the towed body. The sensor generates sensor data, and a towing mechanism controller receives the sensor data and positionally adjusts the tow arm mechanism based on the data.

1 . A vessel for towing a towed body in or on a body of water, comprising:
 a vessel;   a tow arm mechanism carried by said vessel;   a towed body linked to said tow arm mechanism;   at least one sensor carried by either said vessel or said towed body, said at least one sensor generating sensor data; and   a towing mechanism controller receiving said sensor data and positionally adjusting said tow arm mechanism based on said data.   
     
     
         2 . The vessel according to  claim 1 , wherein said tow arm mechanism comprises:
 a winch which carries a tow line, wherein one end of said tow line is connected to said towed body; and   an arm pivotably carried by said vessel, wherein said arm moves said tow line to a position proximal in line with said vessel's center of gravity.   
     
     
         3 . The vessel according to  claim 2 , wherein said towing mechanism controller adjusts a position of said arm based on said sensor data. 
     
     
         4 . The vessel according to  claim 3 , wherein said tow arm mechanism further comprises:
 an opposed pair of buttress places, wherein said winch is mounted between said buttress plates;   a frame axle mounted between said buttress plates, wherein one end of said arm is mounted on said axle; and   an axle motor rotatably moving said frame axle so as to pivotably move said arm, said axle motor receiving an axle control signal from said towing mechanism controller to pivotably move said arm based on data from said at least one sensor received by said towing mechanism controller.   
     
     
         5 . The vessel according to  claim 4 , further comprising:
 an axle sensor coupled to said frame axle to detect an angular position and send said angular position to said towing mechanism controller.   
     
     
         6 . The vessel according to  claim 4 , wherein said tow arm mechanism further comprises:
 a lateral mover motor laterally moving said arm, said lateral mover motor receiving a lateral mover control signal from said towing mechanism controller to laterally move said arm in relation to said axle based on data from said at least one sensor received by said towing mechanism controller.   
     
     
         7 . The vessel according to  claim 4 , wherein said tow arm mechanism further comprises:
 a winch motor coupled to said winch to pay out and reel in said tow line, said winch motor receiving a winch control signal from said towing mechanism controller to adjust tension on said tow line based on data from said at least one sensor received by said towing mechanism controller.   
     
     
         8 . The vessel according to  claim 4 , wherein said vessel comprises a starboard hull and a port hull spaced apart from one another and forming a moonpool opening therebetween, each said hull having a propulsor associated therewith, and wherein said arm has an end opposite said axle that is extendable into said moonpool opening. 
     
     
         9 . The vessel according to  claim 8 , further comprising:
 a thrust sensor associated with each said propulsor, said thrust sensor detecting thrust forces generated by said propulsors and sending propulsor data to said towing mechanism controller.   
     
     
         10 . The vessel according to  claim 4 , wherein said towed body carries a motion and position sensor that sends motion data to said towing mechanism controller. 
     
     
         11 . The vessel according to  claim 10 , wherein said motion and position data is sent along said tow line. 
     
     
         12 . The vessel according to  claim 4 , wherein said arm comprises a pair of spaced apart flanges each having an axle end rotatably mounted on said frame axle, each said flange extending from said axle end to an elbow from which angularly extends a hook end. 
     
     
         13 . The vessel according to  claim 12 , further comprising a plurality of sheaves disposed between said flanges at said axle end, said elbow and said hook end and guiding said tow line as said arm pivots to different angular positions.