CA2750259A1 - Unmanned underwater vehicle and method for operating an unmanned underwater vehicle - Google Patents
Unmanned underwater vehicle and method for operating an unmanned underwater vehicle Download PDFInfo
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- CA2750259A1 CA2750259A1 CA2750259A CA2750259A CA2750259A1 CA 2750259 A1 CA2750259 A1 CA 2750259A1 CA 2750259 A CA2750259 A CA 2750259A CA 2750259 A CA2750259 A CA 2750259A CA 2750259 A1 CA2750259 A1 CA 2750259A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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Abstract
The invention relates to an unmanned underwater vehicle (1) which can be controlled according to predefinable control information by means of a control device (3). The invention also relates to a method for operating an unmanned underwater vehicle (1).
In order to reduce the outlay for investigations of underwater areas using unmanned underwater vehicles, the invention provides for the underwater vehicle (1) to be able to be controlled either in an autonomous operating mode or in a remotely controlled operating mode, predetermined internal control information from a memory element (13) being able to be predefined to the control device (3) in the autonomous operating mode and external control information being able to be predefined to the control device (3) via a communication device (11) of the underwater vehicle (1) in the remotely controlled operating mode.
In order to reduce the outlay for investigations of underwater areas using unmanned underwater vehicles, the invention provides for the underwater vehicle (1) to be able to be controlled either in an autonomous operating mode or in a remotely controlled operating mode, predetermined internal control information from a memory element (13) being able to be predefined to the control device (3) in the autonomous operating mode and external control information being able to be predefined to the control device (3) via a communication device (11) of the underwater vehicle (1) in the remotely controlled operating mode.
Description
Our reference: 2010.23DE
30.08.2010 Unmanned underwater vehicle and method for operating an unmanned underwater vehicle The invention relates to an unmanned underwater vehicle which can be controlled according to predefinable control information by means of a control device. The invention also relates to a method for operating such an unmanned underwater vehicle.
Unmanned underwater vehicles open up a multiplicity of possibilities for different underwater work. In contrast to manned underwater vehicles, unmanned systems can reach greater working depths and can operate in environments which are too dangerous for divers or manned systems. Unmanned underwater vehicles are also able to perform most of the tasks which were previously carried out by larger research ships. Unmanned underwater vehicles therefore afford a large cost advantage over manned systems. Unmanned underwater vehicles can be roughly subdivided into remotely controlled underwater vehicles (ROV =
Remotely Operated Vehicle) and autonomous underwater vehicles (AUV =
Autonomous Underwater Vehicle). Remotely controlled underwater vehicles (ROV) are generally remotely controlled via a connection cable, usually by a human operator who predefines control commands for the underwater vehicle, for example from a control station of the system platform, for example a surface ship.
Autonomous underwater vehicles (AUV) perform their respective mission without being continuously monitored by human operators but rather follow a predefined mission programme. Autonomous underwater vehicles comprise their own power supply and do not require any communication with the human operator during a mission. After the mission programme has been carried out, the autonomous underwater vehicle likewise independently surfaces and is recovered, for example by a mother ship which has a corresponding recovery device. The autonomous underwater vehicle is usually provided with suitable sensors, for example sonar sensors. The measurement results are recorded or are wirelessly transmitted to the mother ship. An autonomous underwater vehicle is particularly suitable for large-scale or large-area reconnaissance under water and investigates the underwater environment, generally without coming into contact with detected objects under water.
Remotely controlled underwater vehicles are used, in particular, for missions with locally limited, more detailed investigations under real-time conditions, the underwater vehicle often also having to act on an object, for example for repair purposes.
Both long-range reconnaissance or investigation and locally limited work under real-time conditions are required in a multiplicity of underwater missions, for example when inspecting and, if necessary, repairing offshore installations, for example pipelines. Vertical walls often need to be examined under water, the walls having to be examined over a long inspection range according to their length under water and, if damage is detected, the damage having to be diagnosed in more detail and repaired, if necessary. Desired fields of use of unmanned underwater vehicles are also, for example, harbour inspections including the inspection of channel walls, quay walls, sheet pile walls, in particular with regard to the undermining of underwater walls. Harbour inspections can also include the examination and possibly manipulation of hulls.
Both types of vehicle are conventionally used for tasks of the abovementioned type. In this case, depending on the specific requirement, either the autonomous underwater vehicle or the remotely controlled underwater vehicle is used, or both vehicles are used in succession, each with subtasks of a complete mission.
The provision of two types of unmanned underwater vehicle, namely both AUVs and ROVs, results in an increased outlay on equipment and thus in high costs.
30.08.2010 Unmanned underwater vehicle and method for operating an unmanned underwater vehicle The invention relates to an unmanned underwater vehicle which can be controlled according to predefinable control information by means of a control device. The invention also relates to a method for operating such an unmanned underwater vehicle.
Unmanned underwater vehicles open up a multiplicity of possibilities for different underwater work. In contrast to manned underwater vehicles, unmanned systems can reach greater working depths and can operate in environments which are too dangerous for divers or manned systems. Unmanned underwater vehicles are also able to perform most of the tasks which were previously carried out by larger research ships. Unmanned underwater vehicles therefore afford a large cost advantage over manned systems. Unmanned underwater vehicles can be roughly subdivided into remotely controlled underwater vehicles (ROV =
Remotely Operated Vehicle) and autonomous underwater vehicles (AUV =
Autonomous Underwater Vehicle). Remotely controlled underwater vehicles (ROV) are generally remotely controlled via a connection cable, usually by a human operator who predefines control commands for the underwater vehicle, for example from a control station of the system platform, for example a surface ship.
Autonomous underwater vehicles (AUV) perform their respective mission without being continuously monitored by human operators but rather follow a predefined mission programme. Autonomous underwater vehicles comprise their own power supply and do not require any communication with the human operator during a mission. After the mission programme has been carried out, the autonomous underwater vehicle likewise independently surfaces and is recovered, for example by a mother ship which has a corresponding recovery device. The autonomous underwater vehicle is usually provided with suitable sensors, for example sonar sensors. The measurement results are recorded or are wirelessly transmitted to the mother ship. An autonomous underwater vehicle is particularly suitable for large-scale or large-area reconnaissance under water and investigates the underwater environment, generally without coming into contact with detected objects under water.
Remotely controlled underwater vehicles are used, in particular, for missions with locally limited, more detailed investigations under real-time conditions, the underwater vehicle often also having to act on an object, for example for repair purposes.
Both long-range reconnaissance or investigation and locally limited work under real-time conditions are required in a multiplicity of underwater missions, for example when inspecting and, if necessary, repairing offshore installations, for example pipelines. Vertical walls often need to be examined under water, the walls having to be examined over a long inspection range according to their length under water and, if damage is detected, the damage having to be diagnosed in more detail and repaired, if necessary. Desired fields of use of unmanned underwater vehicles are also, for example, harbour inspections including the inspection of channel walls, quay walls, sheet pile walls, in particular with regard to the undermining of underwater walls. Harbour inspections can also include the examination and possibly manipulation of hulls.
Both types of vehicle are conventionally used for tasks of the abovementioned type. In this case, depending on the specific requirement, either the autonomous underwater vehicle or the remotely controlled underwater vehicle is used, or both vehicles are used in succession, each with subtasks of a complete mission.
The provision of two types of unmanned underwater vehicle, namely both AUVs and ROVs, results in an increased outlay on equipment and thus in high costs.
Apart from the fact that a plurality of fully equipped underwater vehicles often have to be kept available, different recovery systems also generally have to be provided for the different vehicle types in order to be able to recover both vehicle types after a mission has been concluded and to bring them on board a mother ship, for example. In this case, different recovery systems are usually conventionally used for autonomous underwater vehicles and remotely controlled underwater vehicles. The high outlay on equipment for a plurality of underwater vehicles and corresponding recovery systems generally results in difficulties when accommodating the equipment on board a mother ship where little space is usually available, in particular on deck. Finally, the provision of both AUVs and ROVs gives rise to a considerable amount of effort needed to maintain the unmanned underwater vehicles and also results in a large amount of training for the operating personnel of the underwater vehicles and the respective recovery systems.
The invention is therefore based on the problem of reducing the outlay for investigations of underwater areas using unmanned underwater vehicles.
According to the invention, this object is achieved with an unmanned underwater vehicle having the features of Claim 1. The problem is also solved by a method for operating an unmanned underwater vehicle having the features of Claim 11.
The invention provides for the unmanned underwater vehicle to be able to be controlled either in an autonomous operating mode or in a remotely controlled operating mode, as a result of which the unmanned underwater vehicle according to the invention can operate both autonomously and in a remotely controlled manner. As a result, underwater tasks with a need for large-scale reconnaissance and, at the same time, selective, that is to say locally limited, investigations under real-time conditions can be carried out by an individual unmanned underwater vehicle. The control device controls the operating devices of the underwater vehicle on the basis of predefined control information. In this case, operating devices are understood as meaning both the power supply and navigation and communication devices and other devices provided for operating the underwater vehicle. Operating software of the control device uses the control information to determine the suitable measures of the operating devices for the intended manoeuvre of the underwater vehicle.
Predetermined internal control information from a memory element are predefined to the control device of the unmanned underwater vehicle in the autonomous operating mode, with the result that the mission is carried out by an internal controller in the autonomous operating mode without being monitored by human operators. In this case, the control information may be predefined to the control device as part of permanently programmed operating software or a specific mission programme. In this case, manoeuvres within a mission programme may be stored as control information, for example, or the performance of particular control measures when associated events are present may be predetermined. As part of "intelligent" control, for example, control information may be provided for manoeuvres which are associated with particular situations which can be detected by sensors of the underwater vehicle, for example evasion manoeuvres. In this case, the control information also comprises assessment algorithms for assessing incoming sensor measured values. During large-area underwater reconnaissance, if objects or damage is/are found in a structure to be investigated, provision is advantageously made for the immediate or else subsequent performance of a manoeuvre during the mission, which manoeuvre allows the closer inspection of the object.
External control information are predefined to the control device via a communication device of the underwater vehicle in the remotely controlled operating mode, with the result that underwater work can be carried out under real-time conditions in the manner of ROVs which are known per se.
The underwater vehicle advantageously has an operating mode selection means which can be used to set either the autonomous operating mode or the remotely controlled operating mode as required. The underwater vehicle can therefore be operated as an AUV or ROV depending on the need of a mission to be specifically performed. In this manner, for example when investigating a wall under water, the underwater vehicle can quickly cover that working area of the wall which is to be investigated, for example during an interval, with the autonomous operating mode. If damage is detected, the underwater vehicle is changed over to the remotely controlled operating mode. In the remotely controlled operating mode, an operator can locally investigate the location in question and can repair it, possibly with the aid of the underwater vehicle.
The operating mode selection means generates a corresponding operating mode selection signal in order to set the selected operating mode (autonomous mode/remotely controlled mode) or to change between the operating modes. The operating mode selection signal is preferably input to the control device, with the result that the operating mode selection signal is used to set the control device to the future reception of internal or external control commands, the processing of the latter and corresponding control of the operating devices of the underwater vehicle. Depending on the operating mode selected, the control device controls the operating device either according to internally predefined control information (autonomous mode) or externally predefined control information (remotely controlled mode) on the basis of its operating software.
In one advantageous embodiment, the mode selection means is arranged on the underwater vehicle such that it is accessible from the outside and can be manually operated. Manual operation of the operating mode selection means makes it possible to set the unmanned underwater vehicle according to the invention to the operating mode suitable for a mission in a simple manner before the start of the respective mission, for example on board the mother ship. In this case, the mode selection means may be a switch which is fitted to the outside of the hull of the unmanned underwater vehicle and, when operated, passes an operating mode selection signal into the interior of the underwater vehicle and ultimately to the control device.
The operating mode selection means can be advantageously remotely controlled via a wireless communication medium or via a connection cable, as a result of which the operating mode can be changed even during the mission, that is to say after the underwater vehicle is in the water, if necessary by remote control.
The remotely controlled mode can likewise be switched off by operating the operating mode selection means, with the result that the underwater vehicle can start or continue its reconnaissance patrol in the autonomous mode. The changeover of the operating mode is advantageously wirelessly remotely controlled via radio, sound or in a similar manner.
The underwater vehicle advantageously has a cable receptacle for connecting the connection cable which is preferably a fibre optic cable. The cable receptacle is advantageously arranged in the region of the stern of the underwater vehicle, with the result that the underwater vehicle pulls the connection cable behind it. In this manner, the connection cable is kept away from the underwater vehicle and is protected against damage. The cable receptacle and the connection cable are preferably in the form of a plug-in connection, with the result that the connection cable can be adapted to the underwater vehicle with few actions.
In one preferred refinement of the invention, a common wireless communication medium or a common connection cable is used to connect the mode selection means and the communication device for external control information. The common connection is used both to change over the operating mode in a remotely controlled manner and for communication between the underwater vehicle and the system platform, for example the mother ship, in the remotely controlled mode. A common connection cable can also be used to supply power to the unmanned underwater vehicle, with the result that, during a mission of the unmanned underwater vehicle in the remotely controlled mode, the load on the underwater vehicle's own energy sources is relieved or said sources are not needed at all. It is thus possible to initiate a mission as an ROV immediately and without the use of batteries if necessary.
In addition, the unmanned underwater vehicle also advantageously communicates with the mother ship during the autonomous operating mode via the common wireless communication medium or the common connection cable.
Communication is preferably used for the remotely controlled request to transmit information to the system platform. For example, a signal which activates a predefinable program for providing information can be supplied to the control unit by remote control. In this case, a manoeuvre for controlling a radio buoy or a transponder or else the release of a radio buoy which is carried along may be provided in order to forward information to the system platform at a high transmission rate.
In another advantageous embodiment of the invention, either the autonomous operating mode or the remotely controlled operating mode is set according to the specification of stored operating software of the underwater vehicle and/or a mission programme stored for a specific mission. For this purpose, a memory element can advantageously cause an operating mode change signal to be emitted in accordance with the specification of the operating software. In this case, a changeover from the autonomous mode to the remotely controlled mode may be provided, in particular, for the situation in which the control device detects, from sensor measured values, the presence of a particular situation for which a changeover to the remotely controlled mode is provided. As an alternative to the operating mode being directly changed over by the operating software or the mission programme, provision is made for the control device to indirectly initiate the change of operating mode and to request it from the system platform, with the result that an operator directly changes or can change the operating mode.
In one advantageous embodiment of the invention, the underwater vehicle comprises a main drive, which acts in its longitudinal direction, and at least one manoeuvring drive which acts in a direction that differs from the longitudinal direction. In this manner, the unmanned underwater vehicle according to the invention can be accurately positioned by means of control commands from the human operator in the control station during the remotely controlled operating mode in order to carry out precise investigations under real-time conditions or repairs.
The manoeuvring drive is advantageously provided in the region of the bow of the underwater vehicle and thus enables improved navigation of the underwater vehicle, if appropriate in a manner suitably matched to the main drive. The lateral linear drive is advantageously provided as a lateral linear drive on both sides of the hull. Alternatively or additionally, lifting drives may be provided as manoeuvring drives.
The underwater vehicle advantageously has controllable manipulation devices, preferably robot arms, in order to be able to carry out manipulation tasks, for example repairs, in the remotely controlled operating mode, in particular.
In another embodiment, the underwater vehicle has a receiving device for receiving, transporting and/or storing objects. Such objects may be, for example, explosive charges or samples which were collected in the working area and are brought inside the receiving device with the aid of the manipulation devices.
Further advantageous embodiments emerge from the dependent claims and from the exemplary embodiments which are explained in more detail below using the drawing, in which:
Fig. 1 shows a schematic side view of an unmanned underwater vehicle according to the invention, Fig. 2 shows a schematic side view of a second exemplary embodiment of an unmanned underwater vehicle according to the invention, and Fig. 3 shows a schematic side view of a third exemplary embodiment of an unmanned underwater vehicle according to the invention.
Fig. 1 shows an unmanned underwater vehicle 1 with a pressure-resistant hull 2.
Different operating devices of the underwater vehicle 1 are arranged in or on the hull 2, for example power supply, communication, navigation and drive devices.
The operating devices which are not illustrated in any more detail are controlled by a control device 3 of the underwater vehicle according to predefinable control commands. The underwater vehicle 1 also comprises suitable sensors, for example sonar sensors, the measurement results of which are used by the control device 3 to control the operating devices, for example for the purpose of navigation.
The unmanned underwater vehicle 1 has a main drive 4 in the region of its stern 5, which drive acts in a longitudinal direction 6 of the underwater vehicle 1.
In addition to the main drive 4, the underwater vehicle 1 has a manoeuvring drive which acts in a direction which differs from the longitudinal direction 6 and enables accurate positioning at the specific place of use during a mission of the underwater vehicle 1. In the exemplary embodiment shown, the manoeuvring drive 7 is in the form of a lateral drive and is arranged in the region of the bow 8 of the underwater vehicle 1. In this case, manoeuvring drives 7 are preferably respectively arranged on both sides of the hull 2. As an alternative or in addition to lateral drives, one or more lifting drives may be provided as a manoeuvring drive 7.
The unmanned underwater vehicle 1 can be operated either in an autonomous operating mode or in a remotely controlled operating mode, a human operator predefining control information for the control device 3 in the remotely controlled operating mode. The control information may be control commands for carrying out specific manoeuvres which are carried out by the underwater vehicle in real time under the guidance of the operator. For this purpose, the underwater vehicle 1 is connected to the system platform via a connection cable 9 which is preferably a fibre optic cable. In the exemplary embodiment shown, the system platform is a mother ship 10, namely a surface ship. In other exemplary embodiments which are not shown, the system platform is stationary or is formed by a submarine as the mother ship.
As an alternative to a connection cable, a wireless communication medium may be provided. In this case, the communication device 11 wirelessly communicates with the system platform by radio, sound or in a similar manner.
The invention is therefore based on the problem of reducing the outlay for investigations of underwater areas using unmanned underwater vehicles.
According to the invention, this object is achieved with an unmanned underwater vehicle having the features of Claim 1. The problem is also solved by a method for operating an unmanned underwater vehicle having the features of Claim 11.
The invention provides for the unmanned underwater vehicle to be able to be controlled either in an autonomous operating mode or in a remotely controlled operating mode, as a result of which the unmanned underwater vehicle according to the invention can operate both autonomously and in a remotely controlled manner. As a result, underwater tasks with a need for large-scale reconnaissance and, at the same time, selective, that is to say locally limited, investigations under real-time conditions can be carried out by an individual unmanned underwater vehicle. The control device controls the operating devices of the underwater vehicle on the basis of predefined control information. In this case, operating devices are understood as meaning both the power supply and navigation and communication devices and other devices provided for operating the underwater vehicle. Operating software of the control device uses the control information to determine the suitable measures of the operating devices for the intended manoeuvre of the underwater vehicle.
Predetermined internal control information from a memory element are predefined to the control device of the unmanned underwater vehicle in the autonomous operating mode, with the result that the mission is carried out by an internal controller in the autonomous operating mode without being monitored by human operators. In this case, the control information may be predefined to the control device as part of permanently programmed operating software or a specific mission programme. In this case, manoeuvres within a mission programme may be stored as control information, for example, or the performance of particular control measures when associated events are present may be predetermined. As part of "intelligent" control, for example, control information may be provided for manoeuvres which are associated with particular situations which can be detected by sensors of the underwater vehicle, for example evasion manoeuvres. In this case, the control information also comprises assessment algorithms for assessing incoming sensor measured values. During large-area underwater reconnaissance, if objects or damage is/are found in a structure to be investigated, provision is advantageously made for the immediate or else subsequent performance of a manoeuvre during the mission, which manoeuvre allows the closer inspection of the object.
External control information are predefined to the control device via a communication device of the underwater vehicle in the remotely controlled operating mode, with the result that underwater work can be carried out under real-time conditions in the manner of ROVs which are known per se.
The underwater vehicle advantageously has an operating mode selection means which can be used to set either the autonomous operating mode or the remotely controlled operating mode as required. The underwater vehicle can therefore be operated as an AUV or ROV depending on the need of a mission to be specifically performed. In this manner, for example when investigating a wall under water, the underwater vehicle can quickly cover that working area of the wall which is to be investigated, for example during an interval, with the autonomous operating mode. If damage is detected, the underwater vehicle is changed over to the remotely controlled operating mode. In the remotely controlled operating mode, an operator can locally investigate the location in question and can repair it, possibly with the aid of the underwater vehicle.
The operating mode selection means generates a corresponding operating mode selection signal in order to set the selected operating mode (autonomous mode/remotely controlled mode) or to change between the operating modes. The operating mode selection signal is preferably input to the control device, with the result that the operating mode selection signal is used to set the control device to the future reception of internal or external control commands, the processing of the latter and corresponding control of the operating devices of the underwater vehicle. Depending on the operating mode selected, the control device controls the operating device either according to internally predefined control information (autonomous mode) or externally predefined control information (remotely controlled mode) on the basis of its operating software.
In one advantageous embodiment, the mode selection means is arranged on the underwater vehicle such that it is accessible from the outside and can be manually operated. Manual operation of the operating mode selection means makes it possible to set the unmanned underwater vehicle according to the invention to the operating mode suitable for a mission in a simple manner before the start of the respective mission, for example on board the mother ship. In this case, the mode selection means may be a switch which is fitted to the outside of the hull of the unmanned underwater vehicle and, when operated, passes an operating mode selection signal into the interior of the underwater vehicle and ultimately to the control device.
The operating mode selection means can be advantageously remotely controlled via a wireless communication medium or via a connection cable, as a result of which the operating mode can be changed even during the mission, that is to say after the underwater vehicle is in the water, if necessary by remote control.
The remotely controlled mode can likewise be switched off by operating the operating mode selection means, with the result that the underwater vehicle can start or continue its reconnaissance patrol in the autonomous mode. The changeover of the operating mode is advantageously wirelessly remotely controlled via radio, sound or in a similar manner.
The underwater vehicle advantageously has a cable receptacle for connecting the connection cable which is preferably a fibre optic cable. The cable receptacle is advantageously arranged in the region of the stern of the underwater vehicle, with the result that the underwater vehicle pulls the connection cable behind it. In this manner, the connection cable is kept away from the underwater vehicle and is protected against damage. The cable receptacle and the connection cable are preferably in the form of a plug-in connection, with the result that the connection cable can be adapted to the underwater vehicle with few actions.
In one preferred refinement of the invention, a common wireless communication medium or a common connection cable is used to connect the mode selection means and the communication device for external control information. The common connection is used both to change over the operating mode in a remotely controlled manner and for communication between the underwater vehicle and the system platform, for example the mother ship, in the remotely controlled mode. A common connection cable can also be used to supply power to the unmanned underwater vehicle, with the result that, during a mission of the unmanned underwater vehicle in the remotely controlled mode, the load on the underwater vehicle's own energy sources is relieved or said sources are not needed at all. It is thus possible to initiate a mission as an ROV immediately and without the use of batteries if necessary.
In addition, the unmanned underwater vehicle also advantageously communicates with the mother ship during the autonomous operating mode via the common wireless communication medium or the common connection cable.
Communication is preferably used for the remotely controlled request to transmit information to the system platform. For example, a signal which activates a predefinable program for providing information can be supplied to the control unit by remote control. In this case, a manoeuvre for controlling a radio buoy or a transponder or else the release of a radio buoy which is carried along may be provided in order to forward information to the system platform at a high transmission rate.
In another advantageous embodiment of the invention, either the autonomous operating mode or the remotely controlled operating mode is set according to the specification of stored operating software of the underwater vehicle and/or a mission programme stored for a specific mission. For this purpose, a memory element can advantageously cause an operating mode change signal to be emitted in accordance with the specification of the operating software. In this case, a changeover from the autonomous mode to the remotely controlled mode may be provided, in particular, for the situation in which the control device detects, from sensor measured values, the presence of a particular situation for which a changeover to the remotely controlled mode is provided. As an alternative to the operating mode being directly changed over by the operating software or the mission programme, provision is made for the control device to indirectly initiate the change of operating mode and to request it from the system platform, with the result that an operator directly changes or can change the operating mode.
In one advantageous embodiment of the invention, the underwater vehicle comprises a main drive, which acts in its longitudinal direction, and at least one manoeuvring drive which acts in a direction that differs from the longitudinal direction. In this manner, the unmanned underwater vehicle according to the invention can be accurately positioned by means of control commands from the human operator in the control station during the remotely controlled operating mode in order to carry out precise investigations under real-time conditions or repairs.
The manoeuvring drive is advantageously provided in the region of the bow of the underwater vehicle and thus enables improved navigation of the underwater vehicle, if appropriate in a manner suitably matched to the main drive. The lateral linear drive is advantageously provided as a lateral linear drive on both sides of the hull. Alternatively or additionally, lifting drives may be provided as manoeuvring drives.
The underwater vehicle advantageously has controllable manipulation devices, preferably robot arms, in order to be able to carry out manipulation tasks, for example repairs, in the remotely controlled operating mode, in particular.
In another embodiment, the underwater vehicle has a receiving device for receiving, transporting and/or storing objects. Such objects may be, for example, explosive charges or samples which were collected in the working area and are brought inside the receiving device with the aid of the manipulation devices.
Further advantageous embodiments emerge from the dependent claims and from the exemplary embodiments which are explained in more detail below using the drawing, in which:
Fig. 1 shows a schematic side view of an unmanned underwater vehicle according to the invention, Fig. 2 shows a schematic side view of a second exemplary embodiment of an unmanned underwater vehicle according to the invention, and Fig. 3 shows a schematic side view of a third exemplary embodiment of an unmanned underwater vehicle according to the invention.
Fig. 1 shows an unmanned underwater vehicle 1 with a pressure-resistant hull 2.
Different operating devices of the underwater vehicle 1 are arranged in or on the hull 2, for example power supply, communication, navigation and drive devices.
The operating devices which are not illustrated in any more detail are controlled by a control device 3 of the underwater vehicle according to predefinable control commands. The underwater vehicle 1 also comprises suitable sensors, for example sonar sensors, the measurement results of which are used by the control device 3 to control the operating devices, for example for the purpose of navigation.
The unmanned underwater vehicle 1 has a main drive 4 in the region of its stern 5, which drive acts in a longitudinal direction 6 of the underwater vehicle 1.
In addition to the main drive 4, the underwater vehicle 1 has a manoeuvring drive which acts in a direction which differs from the longitudinal direction 6 and enables accurate positioning at the specific place of use during a mission of the underwater vehicle 1. In the exemplary embodiment shown, the manoeuvring drive 7 is in the form of a lateral drive and is arranged in the region of the bow 8 of the underwater vehicle 1. In this case, manoeuvring drives 7 are preferably respectively arranged on both sides of the hull 2. As an alternative or in addition to lateral drives, one or more lifting drives may be provided as a manoeuvring drive 7.
The unmanned underwater vehicle 1 can be operated either in an autonomous operating mode or in a remotely controlled operating mode, a human operator predefining control information for the control device 3 in the remotely controlled operating mode. The control information may be control commands for carrying out specific manoeuvres which are carried out by the underwater vehicle in real time under the guidance of the operator. For this purpose, the underwater vehicle 1 is connected to the system platform via a connection cable 9 which is preferably a fibre optic cable. In the exemplary embodiment shown, the system platform is a mother ship 10, namely a surface ship. In other exemplary embodiments which are not shown, the system platform is stationary or is formed by a submarine as the mother ship.
As an alternative to a connection cable, a wireless communication medium may be provided. In this case, the communication device 11 wirelessly communicates with the system platform by radio, sound or in a similar manner.
The connection cable 9 can be connected to a communication device 11 of the underwater vehicle 1, with the result that external control commands or other control information can be predefined to the control device 3 via the connection cable 9 and the communication device 11 in the remotely controlled operating mode. The underwater vehicle 1 also delivers information to the mother ship 10 via the communication device 11, for example image information, with the result that manoeuvres can be remotely controlled under real-time conditions in the remotely controlled mode.
In order to connect the connection cable 9, the underwater vehicle 1 has a cable receptacle 12 which is in the form of a plug-in connection in order to simply adapt the connection cable 9. For adaptation of the connection cable 9, the end of the connection cable 9 is inserted into the cable receptacle 12 in the direction of the arrow and is connected to the communication device 11 so as to transmit signals.
The cable receptacle 12 is advantageously arranged in the region of the stern of the underwater vehicle 1, with the result that the connection cable 9 is pulled behind the underwater vehicle 1 during the mission.
In an autonomous operating mode of the unmanned underwater vehicle 1, predetermined internal control information from a memory element 13 is predefined to the control device 3, as a result of which the underwater vehicle 1 can operate autonomously, that is to say independently of the system platform and a human operator. The control information is predefined by programmed operating software and/or mission programming and contains both control information relating to fundamental parameters of the mission and control commands for manoeuvres in events which cannot be specifically predicted but the type of which can be determined. For example, control commands for evasion manoeuvres and control information for (temporarily) changing the intended patrol of the underwater vehicle in favour of more detailed local investigations are provided.
An underwater vehicle 1 which can be operated either autonomously or in a remotely controlled manner combines the advantages of the conventional autonomous underwater vehicles (AUV) and of the conventional remotely controlled underwater vehicles (ROV) in a single underwater vehicle 1. In this case, the underwater vehicle can be used in a versatile manner both as an autonomous underwater vehicle (AUV) and as a remotely controlled underwater vehicle (ROV).
Preferred intended uses of the underwater vehicle 1 according to the invention which can be operated either in an autonomous operating mode or in a remotely controlled operating mode are the underwater inspection of harbour facilities, for example sheet pile walls, in particular with regard to the undermining of harbour walls or sheet pile walls. Further intended uses are the inspection of hulls or channel walls such as pipelines or any other use in which the underwater vehicle 1 is intended to cover the object to be inspected over a relatively long distance in the autonomous mode as an AUV and is intended to carry out closer inspection at locations of particular interest as an ROV in the remotely controlled mode.
In order to selectively set the operating mode or change between the autonomous operating mode and the remotely controlled operating mode, the underwater vehicle 1 comprises an operating mode selection means 15 which generates a corresponding operating mode selection signal 14 in order to set the selected operating mode and predefines said signal to the control device 3. In the exemplary embodiment according to Fig. 1, the mode selection means 15 is in the form of an operating mode switch which can be manually operated and is arranged on the hull 2 of the underwater vehicle 1 such that it is accessible from the outside.
The underwater vehicle 1 has controllable manipulation devices 16 for carrying out manipulation tasks under water, for example repair work. The manipulation devices 16 are preferably robot arms which are controlled by the control device 3. In the exemplary embodiment shown, the robot arms are arranged in the region of the bow 8 but, in other exemplary embodiments which are not shown, further or other manipulation devices 16 may also be arranged in other regions of the underwater vehicle 1. The robot arms can be used to carry out accurately controllable manipulation tasks, for example repair work or the collection of samples which can be stored in a receiving device 17, in particular in the remotely controlled mode. The receiving device 17 can also be used to transport and/or store objects, for example explosive charges.
The underwater vehicle according to the invention which can be operated either in the autonomous mode or in a remotely controlled operating mode makes it possible to cover all fields of use of the previous autonomous underwater vehicles (AUV) and the remotely controlled underwater vehicles (ROV) using a single underwater vehicle. A single recovery device 18 on board the mother ship 10 is also sufficient to put the underwater vehicle 1 into the water and to recover it after the mission. A single underwater vehicle 1 and the associated recovery device 18 considerably reduces, namely approximately halves, the amount of training needed for handling the underwater vehicle 1 and the recovery device and the space requirement on board the mother ship 10 in comparison with the conventional solutions with a plurality of vehicle types. The costs for investigations of underwater areas are considerably reduced by the lower outlay on equipment and training and the reduced space requirement.
Fig. 2 shows another exemplary embodiment of an unmanned underwater vehicle 1'. The same reference symbols as in Fig. 1 are used for the same features or components in each case. Apart from the differences described in more detail below, the underwater vehicle 1' corresponds to the design of the underwater vehicle 1 in Fig. 1.
Instead of the manually operable operating mode switch according to Fig. 1, the underwater vehicle 1' according to Fig. 2 comprises a remotely controllable operating mode selection means 15'. In the exemplary embodiment shown, the remotely controllable operating mode selection means 15' is a receiver which responds to a remote control signal representing the wish to change or set the operating mode. In order to initiate a change of the operating mode of the underwater vehicle 1', the mother ship, for example, emits the remote control signal, for example by sound or radio or in a similar manner. When a remote control signal is received, the receiver of the mode selection means 15' responds such that an operating mode selection signal 14 is supplied to the control device 3. In an exemplary embodiment which is not shown, the mode selection means 15' and the communication device 11 are connected to a common wireless communication medium.
In an exemplary embodiment which is not illustrated, the remotely controlled mode selection means can be remotely controlled via a connection cable. The connection cable for remote control is preferably a fibre optic cable, the io connection cable for remote control being the connection cable 9 of the underwater vehicle 1' for communication with the system platform in the remotely controlled mode in the preferred exemplary embodiment. The mode selection means 15' and the communication device 11 are thus connected to a common connection cable 9, thus reducing the structural complexity.
Fig. 3 shows another exemplary embodiment of an unmanned underwater vehicle 1 ". The same reference symbols as in Fig. 1 and Fig. 2 are used for the same features or components in each case. Apart from the differences described in more detail below, the underwater vehicle 1" corresponds to the design of the underwater vehicle 1 in Fig. 1.
In the unmanned underwater vehicle according to Fig. 3, either the autonomous operating mode or the remotely controlled operating mode is set according to the specification of operating software 19 of the underwater vehicle and/or a mission programme. In this exemplary embodiment, information for changing the operating mode between the autonomous mode and remotely controlled mode is part of the control information predefined to the control device 3.
The operating software 19 and the intended mission programme are stored in the memory element 13 to which the control device 3 has access. In this case, the memory element 13 may be part of the control device 3.
In order to connect the connection cable 9, the underwater vehicle 1 has a cable receptacle 12 which is in the form of a plug-in connection in order to simply adapt the connection cable 9. For adaptation of the connection cable 9, the end of the connection cable 9 is inserted into the cable receptacle 12 in the direction of the arrow and is connected to the communication device 11 so as to transmit signals.
The cable receptacle 12 is advantageously arranged in the region of the stern of the underwater vehicle 1, with the result that the connection cable 9 is pulled behind the underwater vehicle 1 during the mission.
In an autonomous operating mode of the unmanned underwater vehicle 1, predetermined internal control information from a memory element 13 is predefined to the control device 3, as a result of which the underwater vehicle 1 can operate autonomously, that is to say independently of the system platform and a human operator. The control information is predefined by programmed operating software and/or mission programming and contains both control information relating to fundamental parameters of the mission and control commands for manoeuvres in events which cannot be specifically predicted but the type of which can be determined. For example, control commands for evasion manoeuvres and control information for (temporarily) changing the intended patrol of the underwater vehicle in favour of more detailed local investigations are provided.
An underwater vehicle 1 which can be operated either autonomously or in a remotely controlled manner combines the advantages of the conventional autonomous underwater vehicles (AUV) and of the conventional remotely controlled underwater vehicles (ROV) in a single underwater vehicle 1. In this case, the underwater vehicle can be used in a versatile manner both as an autonomous underwater vehicle (AUV) and as a remotely controlled underwater vehicle (ROV).
Preferred intended uses of the underwater vehicle 1 according to the invention which can be operated either in an autonomous operating mode or in a remotely controlled operating mode are the underwater inspection of harbour facilities, for example sheet pile walls, in particular with regard to the undermining of harbour walls or sheet pile walls. Further intended uses are the inspection of hulls or channel walls such as pipelines or any other use in which the underwater vehicle 1 is intended to cover the object to be inspected over a relatively long distance in the autonomous mode as an AUV and is intended to carry out closer inspection at locations of particular interest as an ROV in the remotely controlled mode.
In order to selectively set the operating mode or change between the autonomous operating mode and the remotely controlled operating mode, the underwater vehicle 1 comprises an operating mode selection means 15 which generates a corresponding operating mode selection signal 14 in order to set the selected operating mode and predefines said signal to the control device 3. In the exemplary embodiment according to Fig. 1, the mode selection means 15 is in the form of an operating mode switch which can be manually operated and is arranged on the hull 2 of the underwater vehicle 1 such that it is accessible from the outside.
The underwater vehicle 1 has controllable manipulation devices 16 for carrying out manipulation tasks under water, for example repair work. The manipulation devices 16 are preferably robot arms which are controlled by the control device 3. In the exemplary embodiment shown, the robot arms are arranged in the region of the bow 8 but, in other exemplary embodiments which are not shown, further or other manipulation devices 16 may also be arranged in other regions of the underwater vehicle 1. The robot arms can be used to carry out accurately controllable manipulation tasks, for example repair work or the collection of samples which can be stored in a receiving device 17, in particular in the remotely controlled mode. The receiving device 17 can also be used to transport and/or store objects, for example explosive charges.
The underwater vehicle according to the invention which can be operated either in the autonomous mode or in a remotely controlled operating mode makes it possible to cover all fields of use of the previous autonomous underwater vehicles (AUV) and the remotely controlled underwater vehicles (ROV) using a single underwater vehicle. A single recovery device 18 on board the mother ship 10 is also sufficient to put the underwater vehicle 1 into the water and to recover it after the mission. A single underwater vehicle 1 and the associated recovery device 18 considerably reduces, namely approximately halves, the amount of training needed for handling the underwater vehicle 1 and the recovery device and the space requirement on board the mother ship 10 in comparison with the conventional solutions with a plurality of vehicle types. The costs for investigations of underwater areas are considerably reduced by the lower outlay on equipment and training and the reduced space requirement.
Fig. 2 shows another exemplary embodiment of an unmanned underwater vehicle 1'. The same reference symbols as in Fig. 1 are used for the same features or components in each case. Apart from the differences described in more detail below, the underwater vehicle 1' corresponds to the design of the underwater vehicle 1 in Fig. 1.
Instead of the manually operable operating mode switch according to Fig. 1, the underwater vehicle 1' according to Fig. 2 comprises a remotely controllable operating mode selection means 15'. In the exemplary embodiment shown, the remotely controllable operating mode selection means 15' is a receiver which responds to a remote control signal representing the wish to change or set the operating mode. In order to initiate a change of the operating mode of the underwater vehicle 1', the mother ship, for example, emits the remote control signal, for example by sound or radio or in a similar manner. When a remote control signal is received, the receiver of the mode selection means 15' responds such that an operating mode selection signal 14 is supplied to the control device 3. In an exemplary embodiment which is not shown, the mode selection means 15' and the communication device 11 are connected to a common wireless communication medium.
In an exemplary embodiment which is not illustrated, the remotely controlled mode selection means can be remotely controlled via a connection cable. The connection cable for remote control is preferably a fibre optic cable, the io connection cable for remote control being the connection cable 9 of the underwater vehicle 1' for communication with the system platform in the remotely controlled mode in the preferred exemplary embodiment. The mode selection means 15' and the communication device 11 are thus connected to a common connection cable 9, thus reducing the structural complexity.
Fig. 3 shows another exemplary embodiment of an unmanned underwater vehicle 1 ". The same reference symbols as in Fig. 1 and Fig. 2 are used for the same features or components in each case. Apart from the differences described in more detail below, the underwater vehicle 1" corresponds to the design of the underwater vehicle 1 in Fig. 1.
In the unmanned underwater vehicle according to Fig. 3, either the autonomous operating mode or the remotely controlled operating mode is set according to the specification of operating software 19 of the underwater vehicle and/or a mission programme. In this exemplary embodiment, information for changing the operating mode between the autonomous mode and remotely controlled mode is part of the control information predefined to the control device 3.
The operating software 19 and the intended mission programme are stored in the memory element 13 to which the control device 3 has access. In this case, the memory element 13 may be part of the control device 3.
The operating software 19 may be specified in terms of any operating mode changes by a mission programme which has been individually created for particular missions and has been stored. When changing over between the operating modes according to the specification of the mission programme, for example, the time at which the operating mode is changed or else the order in which an operating mode is changed lies in a sequence of programmed manoeuvres of the underwater vehicle 1 ".
When the operating software 19 sets the operating mode, the operating mode is preferably changed during the mission if the operating software determines, from the results from measuring devices of the underwater vehicle 1 ", the presence of a particular situation for which a change to the respective operating mode other than the current operating mode is provided. In this case, the intelligent operating software assesses the continuously arriving measured values from the sensor devices with regard to possible operating mode changes. The operating software comprises corresponding assessment algorithms for this purpose. The assessment algorithms may be determined or specified by the mission programme.
All of the features mentioned in the abovementioned description of the figures, in the claims and in the introductory part of the description can be used both individually and in any desired combination with one another. Therefore, the disclosure of the invention is not restricted to the described and/or claimed combinations of features. Rather, all combinations of features should be considered to be disclosed.
When the operating software 19 sets the operating mode, the operating mode is preferably changed during the mission if the operating software determines, from the results from measuring devices of the underwater vehicle 1 ", the presence of a particular situation for which a change to the respective operating mode other than the current operating mode is provided. In this case, the intelligent operating software assesses the continuously arriving measured values from the sensor devices with regard to possible operating mode changes. The operating software comprises corresponding assessment algorithms for this purpose. The assessment algorithms may be determined or specified by the mission programme.
All of the features mentioned in the abovementioned description of the figures, in the claims and in the introductory part of the description can be used both individually and in any desired combination with one another. Therefore, the disclosure of the invention is not restricted to the described and/or claimed combinations of features. Rather, all combinations of features should be considered to be disclosed.
Claims (15)
1. Unmanned underwater vehicle which can be controlled according to predefinable control information by means of a control device (3), characterized in that the underwater vehicle (1, 1', 1") can be controlled either in an autonomous operating mode or in a remotely controlled operating mode, predetermined internal control information from a memory element (13) being able to be predefined to the control device (3) in the autonomous operating mode and external control information being able to be predefined to the control device (3) via a communication device (11) of the underwater vehicle (1, 1', 1") in the remotely controlled operating mode.
2. Unmanned underwater vehicle according to Claim 1, characterized in that the underwater vehicle (1, 1', 1") has an operating mode selection means (15, 15') which can be used to set either the autonomous operating mode or the remotely controlled operating mode.
3. Unmanned underwater vehicle according to Claim 2, characterized in that the operating mode selection means (15, 15') is arranged on the underwater vehicle (1, 1', 1") such that it is accessible from the outside and can be manually operated.
4. Unmanned underwater vehicle according to Claim 2 or 3, characterized in that the operating mode selection means (15') can be remotely controlled via a wireless communication medium or via a connection cable (9).
5. Unmanned underwater vehicle according to Claim 4, characterized in that the underwater vehicle (1, 1', 1") has a cable receptacle (12) for connecting the connection cable (9).
6. Unmanned underwater vehicle according to one of Claims 2 to 5, characterized in that the mode selection means (15') and the communication device (11) can be connected to a common wireless communication medium or to a common connection cable (9).
7. Unmanned underwater vehicle according to one of the preceding claims, characterized in that the underwater vehicle (1, 1', 1") comprises a main drive (4), which acts in its longitudinal direction (6), and at least one manoeuvring drive (7) which acts in a direction that differs from the longitudinal direction (6).
8. Unmanned underwater vehicle according to Claim 7, characterized in that the manoeuvring drive (7) is arranged in the region of a bow (8) of the underwater vehicle (1, 1', 1 ").
9. Unmanned underwater vehicle according to one of the preceding claims, characterized in that the underwater vehicle (1, 1', 1") has controllable manipulation devices (16).
10. Unmanned underwater vehicle according to one of the preceding claims, characterized in that the underwater vehicle (1, 1', 1") has a receiving device (17) for receiving, transporting and/or storing objects.
11. Method for operating an unmanned underwater vehicle, in particular according to one of Claims 1 to 10, a control device (3) controlling the underwater vehicle (1, 1', 1 ") according to predefined control information, characterized in that the underwater vehicle (1, 1', 1") is operated either in an autonomous operating mode or in a remotely controlled operating mode, predetermined internal control information from a memory element (13) being predefined to the control device (3) in the autonomous operating mode and external control information being predefined to the control device (3) via a communication device (11) of the underwater vehicle (1, 1', 1") in the remotely controlled operating mode.
12. Method according to Claim 11, characterized in that an operating mode selection means (15, 15') of the underwater vehicle (1, 1', 1") sets either the autonomous operating mode or the remotely controlled operating mode and generates a corresponding operating mode selection signal (14) in order to set the selected operating mode or change the operating modes.
13. Method according to Claim 12, characterized in that the operating mode selection means (15) is manually operated.
14. Method according to Claim 12 or 13, characterized in that the operating mode selection means (15') is remotely controlled in a wireless manner or via a connection cable (9).
15. Method according to Claim 12, characterized in that either the autonomous operating mode or the remotely controlled operating mode is set according to the specification of operating software (19) associated with the control device (3) and/or a mission programme.
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| CN104691728A (en) * | 2015-02-16 | 2015-06-10 | 哈尔滨工程大学 | Overwater and underwater hybrid navigation detector |
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- 2011-08-23 CA CA2750259A patent/CA2750259A1/en not_active Abandoned
- 2011-08-29 EP EP11179144A patent/EP2423102A1/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104691728A (en) * | 2015-02-16 | 2015-06-10 | 哈尔滨工程大学 | Overwater and underwater hybrid navigation detector |
| CN104691728B (en) * | 2015-02-16 | 2017-06-20 | 哈尔滨工程大学 | Underwater surface mixed type navigates by water detector |
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| US20120055390A1 (en) | 2012-03-08 |
| JP2012051560A (en) | 2012-03-15 |
| EP2423102A1 (en) | 2012-02-29 |
| DE102010035899B4 (en) | 2018-01-04 |
| AU2011205031A1 (en) | 2012-03-15 |
| DE102010035899A1 (en) | 2012-03-01 |
| AU2011205031B2 (en) | 2012-10-04 |
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| EEER | Examination request | ||
| FZDE | Discontinued |
Effective date: 20150113 |