EP1827967B1 - Unmanned underwater vessel - Google Patents

Unmanned underwater vessel Download PDF

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Publication number
EP1827967B1
EP1827967B1 EP05816237A EP05816237A EP1827967B1 EP 1827967 B1 EP1827967 B1 EP 1827967B1 EP 05816237 A EP05816237 A EP 05816237A EP 05816237 A EP05816237 A EP 05816237A EP 1827967 B1 EP1827967 B1 EP 1827967B1
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EP
European Patent Office
Prior art keywords
buoyancy
water
aft chamber
pressure body
underwater vehicle
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EP05816237A
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German (de)
French (fr)
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EP1827967A1 (en
Inventor
Christian Blohm
Detlef Lambertus
Oliver Jung
Ralf Richter
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Atlas Elektronik GmbH
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Atlas Elektronik GmbH
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Priority to PL05816237T priority Critical patent/PL1827967T3/en
Publication of EP1827967A1 publication Critical patent/EP1827967A1/en
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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
    • B63G8/14—Control of attitude or depth
    • B63G8/26—Trimming equipment

Definitions

  • the invention relates to an unmanned underwater vehicle of the type defined in the preamble of claim 1.
  • Self-propelled, unmanned underwater vehicles are used as autonomous or remote-controlled vehicles for performing various tasks under water, so-called missions, such. to explore the seabed topography, mine exploration and mine destruction.
  • similarly constructed vehicles are equipped with different devices and components which, due to their function, must be attached to the pressure hull in certain areas.
  • the arrangement and weight of the devices and components significantly affect the trim position of the underwater vehicle, so that differently equipped vehicles must each be trimmed separately so that the vehicle occupies a quasi-horizontal orientation in the water and thus is largely horizontal and roll stabilized.
  • a well-known underwater vehicle for one or more divers has a streamlined shell whose entire interior, including the diver-receiving part (s), has been flooded.
  • the underwater vehicle are in addition to a in Provided longitudinally of the underwater vehicle slidable ballast weight buoyancy body, which are changeable in their position within the underwater vehicle. Trimming also adjusts to the center of gravity of the diver (s).
  • a known submersible for transporting cargo which is movable in towing ( DE 1 920 653 U1 ), has a front and a rear ballast tank, which are flooded when towed.
  • the water in the front ballast tank is displaced via a blow-off valve located in the front ballast tank, so that by increasing the buoyancy in the bow area, the bow lifts and the submersible is tilted in the water. Due to the increased by this obliquity water resistance of the submersible latter is slowed down.
  • a known underwater vehicle ( DE 44 088 ) are provided for holding the underwater vehicle in a horizontal position two attached to the ends of the vehicle, inwardly and outwardly open cylinder with movable piston therein.
  • the pistons are interconnected so that the inward movement of one piston results in outward movement of the other piston.
  • the pistons are connected to a fluid via lines in which valves and valves are arranged. By appropriate control of the taps and valves, the piston by means of the fluid so moves the pistons at the front or rear end of the vehicle displace water from the cylinder or suck water into the cylinder.
  • a well-known submarine ( US 3,343,511 ) has a hydraulic system for transporting liquid mercury from a front zone to a rear zone, and vice versa, to balance or stabilize the submarine, or to emerge quickly in an emergency by expelling the mercury.
  • a known submersible ship (PATENT ABSTRACTS OF JAPAN vol. 009, no. 326 (M-441), December 21, 1985 (1985-12-21) & JP 60 157989 A (MITSUBISHI JUKOGYO KK), August 19, 1985 (1985-08-19 )) has an enveloping body in which a pressure capsule, an auxiliary tank, a ballast tank, a trim tank and the like are installed, the space between these tanks and the enveloping body being filled with a buoyant material.
  • An immersion body is detachably connected to the enveloping body via a metal rod.
  • a battery for the power supply of the submersible ship is installed and filled the space between the battery and the shell of the immersion body with buoyant material.
  • a known unmanned underwater vehicle a so-called ROV ( US 4947782 ), has a pressure body and a drive unit consisting of four separate propeller drives.
  • the four propeller drives are attached to the outside of the pressure hull, with two propeller drives on the starboard side and two propeller drives on the port side are each arranged vertically one above the other.
  • the generic submarine E. EUGENE ALLMENDIGER: "Submersible Vehicle Systems Design” 1990, THE SOCIETY OF NAVAL ARCHITECTS AND MARINE ENGINEERS, JERSEY CITY, NJ, XP002369081, page 183, FIG. 75 ) has a boat hull in which a pressure body, a ballast tank, a trim tank, batteries, a drive motor and the like are installed. Outside at the stern of the boat hull is driven by a propeller driven propeller and control fins arranged. In the rear interior buoyancy tanks are arranged and the remaining rear space filled with buoyant material such as syntactic foam.
  • buoyant material such as syntactic foam.
  • the invention has for its object to provide an opportunity for an unmanned underwater vehicle, in a simple constructive way to trim the trim position of the underwater vehicle after entry, Aus, or conversion of equipment required for a given mission equipment in quasi final assembled state ,
  • the underwater vehicle according to the invention has the advantage that with the help of the buoyancy means on the one hand produced by the equipment output on the underwater vehicle, which would lead to a substantial deterioration of the trim position of the underwater vehicle, can be compensated and on the other hand an unexpected poor trim position of the underwater vehicle when changing or remodeling Equipment can be compensated again.
  • the accommodation of the buoyancy means in the flooded rear chamber is largely independent of the specific location of the equipment or in or on the pressure hull. This opens up Also, the possibility of the underwater vehicle with the weight and volume of extremely different equipping equipment without changing the pressure hull itself, ie to adjust its volume to the weight of the equipment.
  • the accommodation of the buoyancy means in the rear chamber also has the advantage that the buoyancy means do not adversely affect the performance of the vehicle, in particular the vehicle speed and the vehicle life.
  • the flow resistance of the vehicle, its flow behavior and the flow at the pressure body are not changed.
  • the buoyancy means arranged in the rear chamber can be designed differently as buoyancy bodies in adaptation to the shape of the empty space released by the cable reel.
  • the at least one buoyant body is advantageously formed as a hollow cylinder and inserted into the interior of the coil former or in a free space present between the cable coil and the inner wall of the rear chamber.
  • the at least one buoyancy body is hollow-cylindrical and accommodates the cable winding in its interior.
  • the at least one buoyancy body is cylindrical so that its cylinder jacket rests against the inner wall of the hollow chamber and at least one Part of the axial length of the hollow chamber extends.
  • the buoyant body has a through opening for passing through the data transmission cable and a recess for receiving a force acting on the data transmission cable strain relief.
  • FIG. 1 Underwater vehicle schematically illustrated in side view has a pressure body 11, a drive unit with flanged to the pressure body 11, electric propeller drives 12, of which two are arranged one above the other on the port side and starboard side of the pressure hull 11, and two vertically and two horizontally aligned stabilizing fins 13th At the back of the pressure hull 11, a flooded rear chamber 14 is present.
  • a platform not shown here, including the underwater vehicle via a data transmission cable 15, such as a fiber optic cable or a copper wire, is firmly connected to the platform.
  • a data transmission cable 15 such as a fiber optic cable or a copper wire
  • the data transmission cable 15 is accommodated as a cable winding 16 in the flooded rear chamber 14, wherein the cable winding 16 is designed as a coil, the cable 15 is thus wound on a hollow cylindrical bobbin 17, which preferably carries on its one end a radial flange 18 in one piece , One end of the cable winding 16 is guided through a seal 19 into the interior of the pressure hull 11, while the other end of the cable 15 is pulled off the cable winding 16 through a discharge hopper 20 closing the rear chamber 14 at the end.
  • the removal of the cable 15 from the cable winding 16 is performed circumferentially on the radial flange 18, which is correspondingly rounded.
  • a recess 21 is incorporated into the end face of the radial flange 18 facing the discharge funnel 20, into which a disk 22 with a central bore 23 is inserted.
  • the coil carrier 17 is clamped axially on the bottom plate 25.
  • the rear chamber 14 buoyancy means in the form of a buoyant body 26 (FIG. Fig. 2 ).
  • the buoyant body 26 is made of a material whose density is smaller than that of the water and is adapted to the void space present in the rear chamber 14. By selecting the material density and the dimensions of the buoyant body 26, such buoyancy can be generated at the rear that the underwater vehicle assumes an exact trim position.
  • the buoyant body 26 is designed as a hollow cylinder and inserted into the interior of the hollow cylindrical bobbin 17.
  • the buoyancy body 26 fills the entire, existing between the bolt 24 and the inner wall of the bobbin 17 annulus. If less lift is required, either the axial length of the buoyant body 26 can be reduced or for the Buoyancy 26 are selected a material having a greater density. If a greater buoyancy is required, the density of the material of the buoyant body 26 can be reduced and / or - as in Fig. 1 not shown - a further buoyant body 26 are housed in the rear chamber 14. Such an additional buoyant body 26 can be used, for example, in the recess 21 and occupy the not filled by the disc 22 and the head of the bolt 24 portion of the recess 21.
  • a buoyant body in addition to or instead of in Fig. 2 shown buoyancy body 26 are used and disposed in the space, which may be present between the outer periphery of the cable winding 16 and the inner wall of the rear chamber 14.
  • Such an arrangement of a buoyant body in place of the buoyant body 26 is required even when the cable winding 16 is spoolless and the cable is pulled off on the inside of the cable.
  • a buoyancy 26 'shown which is provided for integration in the rear chamber 14 in such underwater vehicles, which do not carry a cable reel 16 with him, however, are remotely controlled via the data transmission cable 15 from a platform.
  • the cable winding is arranged on the platform and the cable end running from the cable end only passed through the rear chamber 14 and fixed in the rear chamber 14 by means of a strain relief.
  • the rear chamber 14 is still closed by the discharge funnel 20.
  • the buoyancy body 26 ' is cylindrical, in such a way that it is able to create with its cylinder jacket to the cylindrical inner wall of the rear chamber 14.
  • the buoyancy body 26 ' extends depending on the required buoyancy more or less over the entire axial length of the rear chamber 14.
  • a through hole 27 and a recess 28 are present in the buoyancy body 26'.
  • the passage opening 27 serves to carry out the data transmission cable 15 from the outlet funnel 20 to the bottom plate 25 and the recess 28 for receiving a strain relief, not shown here, which acts on the passed through the passage opening 27 portion of the data transmission cable 15 and the data transmission cable 15 in the rear chamber 14 zugfest sets.
  • the described underwater vehicle with pressure body 11 and rear chamber 14 is used in unmodified design as autonomously working, self-propelled, unmanned underwater vehicle. This eliminates a remote control of the underwater vehicle through the platform, so that the data transmission cable 15 is no longer available. Even with such an underwater vehicle, the rear chamber 14 is used to compensate for a Hecklastmaschine the underwater vehicle and provided with buoyancy means for producing the desired trim position of the underwater vehicle.
  • the side facing away from the pressure body 11 end of the rear chamber 14 is now no longer closed with a discharge funnel, but closed with a sealing inserted cover plate 29, so that the rear chamber 14 is an air-filled Cavity 30 forms, so is used as a buoyant means so air.
  • the cover plate 29 is stepped in diameter and has a smaller diameter plate portion 291 and a larger diameter plate portion 292. The smaller-diameter plate portion 291 is pushed into the rear chamber 14 until the larger-diameter plate portion 292 rests on the front side of the rear chamber 14.
  • the attachment of the cover plate 29 is effected by screws 31, which in Fig.
  • the cover plate 29 is preferably made of aluminum.
  • the desired buoyancy in the rear region is adjustable by changing the weight of the cover plate 29, wherein preferably the axial thickness of the cover plate 29 is changed. If the cover plate 29 removed on the outside of the larger diameter plate portion 292, so only reduces the weight of the cover plate 29. If the cover plate 29 is removed on the inner end face of the smaller diameter plate portion 291, then the volume of the cover plate 29 changes in addition to the weight of the in the rear chamber 14 existing cavity 30, so that there is a clearer increase in buoyancy. Of course, here too, the weight of the cover plate 29 can be varied by selecting the density of the plate material.
  • Fig. 6 fill empty rear chamber 14 with a material completely or partially, the density and volume is selected according to the required buoyancy.
  • the material can also be used in the form of one or more individual buoyant bodies become.
  • the rear chamber 14 is then not sealed watertight, but flooded.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Electric Cable Installation (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Prostheses (AREA)
  • Pressure Vessels And Lids Thereof (AREA)

Abstract

The invention relates to an unmanned underwater vessel comprising a pressure body (11) around which water flows on the outside. Said vessel comprises a drive unit and at least one replaceable equipment appliance embodied as an integrated or added appliance. For the trimming of the underwater vessel that can be equipped with replaceable integrated and/or added appliances in the outer region surrounded with water and/or in an immersed inner region of the pressure body, which is not surrounded with water, buoyancy means are arranged and dimensioned in such a way that a buoyancy force acting on the buoyancy means leads to a quasi horizontal orientation of the pressure body (11) equipped with the integrated and/or added appliances. Preferably, the buoyancy means are inserted into an immersed rear chamber (14) formed on the pressure body (11), and comprise a buoyancy body (26) having a density which is lower than the density of water.

Description

Die Erfindung betrifft ein unbemanntes Unterwasserfahrzeug der im Oberbegriff des Anspruchs 1 definierten Gattung.The invention relates to an unmanned underwater vehicle of the type defined in the preamble of claim 1.

Eigenangetriebene, unbemannte Unterwasserfahrzeuge werden als autonom arbeitende oder ferngesteuerte Fahrzeuge zur Durchführung diverser Aufgaben unter Wasser, sog. Missionen, eingesetzt, so z.B. zur Erkundung der Meeresboden-Topographie, zur Minenaufklärung und Minenvernichtung. Dabei werden gleichartig aufgebaute Fahrzeuge je nach Anforderungsprofil mit unterschiedlichen Geräten und Komponenten ausgestattet, die aufgrund ihrer Funktion zwingend in bestimmten Bereichen am Druckkörper angebracht werden müssen. Die Anordnung und das Gewicht der Geräte und Komponenten beeinflussen die Trimmlage des Unterwasserfahrzeugs erheblich, so dass unterschiedlich ausgerüstete Fahrzeuge jeweils gesondert getrimmt werden müssen, damit das Fahrzeug im Wasser eine quasi horizontale Ausrichtung einnimmt und damit weitgehend horizontal- und rollstabilisiert ist.Self-propelled, unmanned underwater vehicles are used as autonomous or remote-controlled vehicles for performing various tasks under water, so-called missions, such. to explore the seabed topography, mine exploration and mine destruction. Depending on the requirement profile, similarly constructed vehicles are equipped with different devices and components which, due to their function, must be attached to the pressure hull in certain areas. The arrangement and weight of the devices and components significantly affect the trim position of the underwater vehicle, so that differently equipped vehicles must each be trimmed separately so that the vehicle occupies a quasi-horizontal orientation in the water and thus is largely horizontal and roll stabilized.

Ein bekanntes Unterwasserfahrzeug für einen oder mehrere Taucher ( DE 37 39 887 A1 ) weist eine strömungsgünstig geformte Hülle auf, deren gesamter Innenraum, einschließlich des den oder die Taucher aufnehmenden Teils, geflutet ist. Zum Trimmen des Unterwasserfahrzeugs sind neben einem in Längsrichtung des Unterwasserfahrzeugs verschiebbaren Ballastgewicht Auftriebskörper vorgesehen, die in ihrer Lage innerhalb des Unterwasserfahrzeugs veränderbar sind. Durch das Trimmen erfolgt auch eine Anpassung an die Schwerpunktslage des oder der Taucher.A well-known underwater vehicle for one or more divers ( DE 37 39 887 A1 ) has a streamlined shell whose entire interior, including the diver-receiving part (s), has been flooded. For trimming the underwater vehicle are in addition to a in Provided longitudinally of the underwater vehicle slidable ballast weight buoyancy body, which are changeable in their position within the underwater vehicle. Trimming also adjusts to the center of gravity of the diver (s).

Ein bekanntes Tauchboot zur Lastenbeförderung, das im Schleppzug bewegbar ist ( DE 1 920 653 U1 ), hat einen vorderen und einen hinteren Ballasttank, die beim Schleppen geflutet sind. Zum Bremsen des geschleppten Tauchboots wird über ein im vorderen Ballasttank angeordnetes Ausblasventil das im vorderen Ballasttank befindliche Wasser verdrängt, so dass durch Vergrößerung des Auftriebs im Bugbereich der Bug sich hebt und das Tauchboot sich im Wasser schräg stellt. Durch den durch diese Schräglage vergrößerten Wasserwiderstand des Tauchboots wird letzteres gebremst.A known submersible for transporting cargo, which is movable in towing ( DE 1 920 653 U1 ), has a front and a rear ballast tank, which are flooded when towed. To brake the towed submersible boat, the water in the front ballast tank is displaced via a blow-off valve located in the front ballast tank, so that by increasing the buoyancy in the bow area, the bow lifts and the submersible is tilted in the water. Due to the increased by this obliquity water resistance of the submersible latter is slowed down.

Bei einem bekannten, selbstgetriebenen Unterseeboot für Unterseeforschung, ( DE 1 165 439 ) wird zum Neigen und zum Wideraufrichten des U-Boots ein Quecksilbervolumen von einem Quecksilberbehälter in einen anderen Quecksilberbehälter verlagert und wieder zurückgepumpt.In a well-known, self-propelled submarine research submarine, ( DE 1 165 439 ), a mercury volume is moved from one mercury container to another mercury container and pumped back again for tilting and repositioning the submarine.

Bei einem bekannten Unterwasserfahrzeug ( DE 44 088 ) sind zum Halten des Unterwasserfahrzeugs in waagrechter Lage zwei an den Enden des Fahrzeugs angebrachte, nach innen und außen offene Zylinder mit darin beweglichen Kolben vorgesehen. Die Kolben sind so miteinander verbunden, dass die Einwärtsbewegung des einen Kolbens eine Auswärtsbewegung des anderen Kolbens zur Folge hat. Die Kolben sind über Leitungen, in denen Ventile und Hähne angeordnet sind, an ein Fluidum angeschlossen. Durch entsprechende Ansteuerung der Hähne und Ventile werden die Kolben mittels des Fluidums so bewegt, dass die Kolben an dem vorderen oder hinteren Ende des Fahrzeugs Wasser aus dem Zylinder verdrängen bzw. Wasser in den Zylinder einsaugen.In a known underwater vehicle ( DE 44 088 ) are provided for holding the underwater vehicle in a horizontal position two attached to the ends of the vehicle, inwardly and outwardly open cylinder with movable piston therein. The pistons are interconnected so that the inward movement of one piston results in outward movement of the other piston. The pistons are connected to a fluid via lines in which valves and valves are arranged. By appropriate control of the taps and valves, the piston by means of the fluid so moves the pistons at the front or rear end of the vehicle displace water from the cylinder or suck water into the cylinder.

Ein bekanntes U-Boot ( US 3 343 511 ) besitzt ein Hydrauliksystem zum Transport von flüssigem Quecksilber aus einer vorderen Zone in eine hintere Zone und umgekehrt, um das U-Boot auszubalancieren oder zu stabilisieren oder im Notfall durch Ausstoßen des Quecksilbers schnell auftauchen zu lassen.A well-known submarine ( US 3,343,511 ) has a hydraulic system for transporting liquid mercury from a front zone to a rear zone, and vice versa, to balance or stabilize the submarine, or to emerge quickly in an emergency by expelling the mercury.

Ein bekanntes tauchfähiges Schiff (PATENT ABSTRACTS OF JAPAN Bd. 009, Nr. 326 (M-441), 21. Dezember 1985 (1985-12-21) & JP 60 157989 A (MITSUBISHI JUKOGYO KK), 19. August 1985 (1985-08-19 )) weist einen Hüllkörper auf, in dem eine Druckkapsel, ein Hilfstank, ein Ballasttank, ein Trimmtank und dgl. installiert sind, wobei der Raum zwischen diesen Tanks und dem Hüllkörper mit einem Auftriebsmaterial ausgefüllt ist. Ein Tauchkörper ist über eine Metallstange mit dem Hüllkörper demontierbar verbunden. In dem Tauchkörper ist eine Batterie für die Stromversorgung des tauchfähigen Schiffes installiert und der Raum zwischen Batterie und der Hülle des Tauchkörpers mit Auftriebsmaterial gefüllt.A known submersible ship (PATENT ABSTRACTS OF JAPAN vol. 009, no. 326 (M-441), December 21, 1985 (1985-12-21) & JP 60 157989 A (MITSUBISHI JUKOGYO KK), August 19, 1985 (1985-08-19 )) has an enveloping body in which a pressure capsule, an auxiliary tank, a ballast tank, a trim tank and the like are installed, the space between these tanks and the enveloping body being filled with a buoyant material. An immersion body is detachably connected to the enveloping body via a metal rod. In the immersion body, a battery for the power supply of the submersible ship is installed and filled the space between the battery and the shell of the immersion body with buoyant material.

Ein bekanntes unbemanntes Unterwasserfahrzeug, ein sog. ROV ( US 4947782 ), weist einen Druckkörper und ein aus vier getrennten Propellerantrieben bestehendes Antriebsaggregat auf. Die vier Propellerantriebe sind außen am Druckkörper befestigt, wobei zwei Propellerantriebe auf der Steuerbordseite und zwei Propellerantriebe auf der Backbordseite jeweils vertikal übereinander angeordnet sind.A known unmanned underwater vehicle, a so-called ROV ( US 4947782 ), has a pressure body and a drive unit consisting of four separate propeller drives. The four propeller drives are attached to the outside of the pressure hull, with two propeller drives on the starboard side and two propeller drives on the port side are each arranged vertically one above the other.

Das gattungsbildende Unterseeboot ( E. EUGENE ALLMENDIGER: "Submersible Vehicle Systems Design" 1990, THE SOCIETY OF NAVAL ARCHITECTS AND MARINE ENGINEERS, JERSEY CITY, NJ, XP002369081, Seite 183, Fig. 75 ) weist eine Bootshülle auf, in den ein Druckkörper, ein Ballasttank, ein Trimmtank, Batterien, ein Antriebsmotor und dgl. installiert sind. Außen am Heck der Bootshülle ist ein vom Antriebsmotor angetriebener Propeller sowie Steuerflossen angeordnet. Im Heckinneren sind Auftriebstanks angeordnet und der restliche Heckraum mit Auftriebsmaterial z.B. syntaktischen Schaum gefüllt.The generic submarine ( E. EUGENE ALLMENDIGER: "Submersible Vehicle Systems Design" 1990, THE SOCIETY OF NAVAL ARCHITECTS AND MARINE ENGINEERS, JERSEY CITY, NJ, XP002369081, page 183, FIG. 75 ) has a boat hull in which a pressure body, a ballast tank, a trim tank, batteries, a drive motor and the like are installed. Outside at the stern of the boat hull is driven by a propeller driven propeller and control fins arranged. In the rear interior buoyancy tanks are arranged and the remaining rear space filled with buoyant material such as syntactic foam.

Der Erfindung liegt die Aufgabe zugrunde, bei einem unbemannten Unterwasserfahrzeug eine Möglichkeit zu schaffen, in einfacher konstruktiver Weise die Trimmlage des Unterwasserfahrzeugs nach Ein-, Aus-, An- oder Umbau von für eine vorgegebene Mission erforderlichen Ausrüstgeräten im quasi endmontierten Zustand noch korrigieren zu können.The invention has for its object to provide an opportunity for an unmanned underwater vehicle, in a simple constructive way to trim the trim position of the underwater vehicle after entry, Aus, or conversion of equipment required for a given mission equipment in quasi final assembled state ,

Die Aufgabe ist erfindungsgemäß.durch die Merkmale im Anspruch 1 gelöst.The object is inventively solved by the features in claim 1.

Das erfindungsgemäße Unterwasserfahrzeug hat den Vorteil, dass mit Hilfe der Auftriebsmittel einerseits ein von den Ausrüstgeräten erzeugter Abtrieb am Unterwasserfahrzeug, der zu einer wesentlichen Verschlechterung der Trimmlage des Unterwasserfahrzeugs führen würde, kompensiert werden kann und andererseits eine unerwartet schlechte Trimmlage des Unterwasserfahrzeugs bei Wechsel oder Umbau der Ausrüstgeräte wieder ausgeglichen werden kann. Die Unterbringung der Auftriebsmittel in der gefluteten Heckkammer ist dabei weitgehend unabhängig von der speziellen Lage des oder der Ausrüstgeräte im oder am Druckkörper. Damit eröffnet sich auch die Möglichkeit das Unterwasserfahrzeug mit vom Gewicht und vom Volumen her extrem unterschiedlichen Ausrüstgeräten zu bestücken, ohne den Druckkörper selbst ändern, d.h. sein Volumen an das Gewicht der Ausrüstgeräte anpassen zu müssen. Die Unterbringung der Auftriebsmittel in der Heckkammer hat zudem den Vorteil, dass die Auftriebsmittel die Leistung des Fahrzeugs, insbesondere die Fahrzeuggeschwindigkeit und die Fahrzeugstandzeit, nicht negativ beeinflussen. Der Strömungswiderstand des Fahrzeugs, dessen Strömungsverhalten und die Strömung am Druckkörper werden nicht verändert. Dabei können die in der Heckkammer angeordneten Auftriebsmittel als Auftriebskörper in Anpassung an die Form des vom Kabelwickel freigegebenen Leerraums unterschiedlich gestaltet sein.The underwater vehicle according to the invention has the advantage that with the help of the buoyancy means on the one hand produced by the equipment output on the underwater vehicle, which would lead to a substantial deterioration of the trim position of the underwater vehicle, can be compensated and on the other hand an unexpected poor trim position of the underwater vehicle when changing or remodeling Equipment can be compensated again. The accommodation of the buoyancy means in the flooded rear chamber is largely independent of the specific location of the equipment or in or on the pressure hull. This opens up Also, the possibility of the underwater vehicle with the weight and volume of extremely different equipping equipment without changing the pressure hull itself, ie to adjust its volume to the weight of the equipment. The accommodation of the buoyancy means in the rear chamber also has the advantage that the buoyancy means do not adversely affect the performance of the vehicle, in particular the vehicle speed and the vehicle life. The flow resistance of the vehicle, its flow behavior and the flow at the pressure body are not changed. The buoyancy means arranged in the rear chamber can be designed differently as buoyancy bodies in adaptation to the shape of the empty space released by the cable reel.

Ist der Kabelwickel als Spule ausgeführt, bei der das Kabel auf einem hohlzylindrischen Spulenträger aufgewickelt ist, ist vorteilhaft der mindestens eine Auftriebskörper hohlzylindrisch ausgebildet und in den Innenraum des Spulenkörpers oder in einem zwischen Kabelwickel und Innenwand der Heckkammer vorhandenen Freiraum eingeschoben. Ist der Kabelwickel jedoch spulenträgerlos, wobei das Kabel auf der Innenseite des Kabelwickels abgezogen wird, so ist der mindestens eine Auftriebskörper hohlzylindrisch ausgebildet und nimmt in seinem Innern den Kabelwickel auf. Bei Unterwasserfahrzeugen, in denen lediglich das Ende des Datenübertragungskabels festgelegt ist und der abspulbare Kabelwickel auf der die Steuerung des Unterwasserfahrzeugs vornehmenden Plattform angeordnet ist, ist der mindestens eine Auftriebskörper zylindrisch so ausgebildet, dass sein Zylindermantel an der Innenwand der Hohlkammer anliegt und sich zumindest über einen Teil der axialen Länge der Hohlkammer erstreckt. Der Auftriebskörper weist eine Durchgangsöffnung zum Durchführen des Datenübertragungskabels sowie eine Ausnehmung zur Aufnahme einer an dem Datenübertragungskabel angreifenden Zugentlastung auf.If the cable winding is designed as a coil in which the cable is wound on a hollow cylindrical coil carrier, the at least one buoyant body is advantageously formed as a hollow cylinder and inserted into the interior of the coil former or in a free space present between the cable coil and the inner wall of the rear chamber. However, if the cable winding is spoolless, the cable being drawn off on the inside of the cable winding, then the at least one buoyancy body is hollow-cylindrical and accommodates the cable winding in its interior. In underwater vehicles, in which only the end of the data transmission cable is fixed and the unwindable cable reel is arranged on the control platform of the underwater vehicle platform, the at least one buoyancy body is cylindrical so that its cylinder jacket rests against the inner wall of the hollow chamber and at least one Part of the axial length of the hollow chamber extends. The buoyant body has a through opening for passing through the data transmission cable and a recess for receiving a force acting on the data transmission cable strain relief.

Die Erfindung ist anhand von in der Zeichnung dargestellten Ausführungsbeispielen im folgenden näher beschrieben. Es zeigen:

Fig. 1
eine stark schematisierte Seitenansicht eines eigenangetriebenen, unbemannten Unterwasserfahrzeugs,
Fig. 2
einen Längsschnitt einer Heckkammer des Fahrzeugs in Fig. 1,
Fig. 3 und 4
eine Stirn- und eine Seitenansicht eines Auftriebskörpers gemäß einem zweiten Ausführungsbeispiel zum Einsetzen in die Heckkammer in Fig. 2,
Fig. 5
eine perspektivische Darstellung des Auftriebskörpers gemäß Fig. 3 und 4,
Fig. 6
eine gleiche Darstellung wie in Fig. 2 der Heckkammer mit modifiziertem Heckkammerverschluss.
The invention is described in more detail below with reference to exemplary embodiments illustrated in the drawing. Show it:
Fig. 1
a highly schematic side view of a self-propelled, unmanned underwater vehicle,
Fig. 2
a longitudinal section of a rear chamber of the vehicle in Fig. 1 .
3 and 4
a front and a side view of a buoyant body according to a second embodiment for insertion into the rear chamber in Fig. 2 .
Fig. 5
a perspective view of the buoyant body according to 3 and 4 .
Fig. 6
a same representation as in Fig. 2 the rear chamber with modified rear chamber closure.

Das in Fig. 1 in Seitenansicht schematisiert dargestellte Unterwasserfahrzeug hat einen Druckkörper 11, ein Antriebsaggregat mit am Druckkörper 11 angeflanschten, elektrischen Propellerantrieben 12, von denen jeweils zwei übereinander auf der Backbord- und Steuerbordseite des Druckkörpers 11 angeordnet sind, sowie je zwei vertikal und zwei horizontal ausgerichtete Stabilisierungsflossen 13. An der Rückseite des Druckkörpers 11 ist eine geflutete Heckkammer 14 vorhanden. Das in Fig. 1 skizzierte Unterwasserfahrzeug wird von einer hier nicht dargestellten Plattform aus ferngesteuert, wozu das Unterwasserfahrzeug über ein Datenübertragungskabel 15, z.B. ein Glasfaserkabel oder einen Kupferdraht, mit der Plattform fest verbunden ist. Wie in der Schnittdarstellung in Fig. 2 zu erkennen ist, ist das Datenübertragungskabel 15 als Kabelwickel 16 in der gefluteten Heckkammer 14 aufgenommen, wobei der Kabelwickel 16 als Spule ausgeführt ist, das Kabel 15 also auf einen hohlzylindrischen Spulenträger 17 aufgewickelt ist, der auf seiner einen Stirnseite einen Radialflansch 18 vorzugsweise einstückig trägt. Das eine Ende des Kabelwickels 16 ist durch eine Dichtung 19 hindurch in das Innere des Druckkörpers 11 geführt, während das andere Ende des Kabels 15 vom Kabelwickel 16 durch einen die Heckkammer 14 stirnseitig verschließenden Auslauftrichter 20 hindurch abgezogen wird.This in Fig. 1 Underwater vehicle schematically illustrated in side view has a pressure body 11, a drive unit with flanged to the pressure body 11, electric propeller drives 12, of which two are arranged one above the other on the port side and starboard side of the pressure hull 11, and two vertically and two horizontally aligned stabilizing fins 13th At the back of the pressure hull 11, a flooded rear chamber 14 is present. This in Fig. 1 sketched underwater vehicle is remotely controlled by a platform, not shown here, including the underwater vehicle via a data transmission cable 15, such as a fiber optic cable or a copper wire, is firmly connected to the platform. As in the sectional view in Fig. 2 can be seen, the data transmission cable 15 is accommodated as a cable winding 16 in the flooded rear chamber 14, wherein the cable winding 16 is designed as a coil, the cable 15 is thus wound on a hollow cylindrical bobbin 17, which preferably carries on its one end a radial flange 18 in one piece , One end of the cable winding 16 is guided through a seal 19 into the interior of the pressure hull 11, while the other end of the cable 15 is pulled off the cable winding 16 through a discharge hopper 20 closing the rear chamber 14 at the end.

Das Abziehen des Kabels 15 von dem Kabelwickel 16 erfolgt umlaufend über den Radialflansch 18, der hierzu entsprechend gerundet ist. Zur Befestigung des Spulenträgers 17 in der Heckkammer 14 ist in die zum Auslauftrichter 20 weisende Stirnseite des Radialflansches 18 eine Ausnehmung 21 eingearbeitet, in die eine Scheibe 22 mit einer zentralen Bohrung 23 eingelegt ist. Mittels eines durch die zentrale Bohrung 23 in der Scheibe 22 hindurchgeführten Schraubbolzens 24, der in einer die Heckkammer 14 druckkörperseitig begrenzenden Bodenplatte 25 eingeschraubt ist, ist der Spulenträger 17 axial auf der Bodenplatte 25 festgespannt.The removal of the cable 15 from the cable winding 16 is performed circumferentially on the radial flange 18, which is correspondingly rounded. For attachment of the bobbin 17 in the rear chamber 14, a recess 21 is incorporated into the end face of the radial flange 18 facing the discharge funnel 20, into which a disk 22 with a central bore 23 is inserted. By means of a guided through the central bore 23 in the disc 22 bolt 24 which is screwed in a pressure chamber side limiting the rear chamber 14 bottom plate 25, the coil carrier 17 is clamped axially on the bottom plate 25.

Um dem vom Kabelwickel 16 mit Spulenträger 17 erzeugten Abtrieb im Heckbereich entgegenzuwirken und eine gute Trimmlage des Unterwasserfahrzeugs mit quasi horizontaler Ausrichtung des Druckkörpers 11 im Wasser zu erreichen, enthält die Heckkammer 14 Auftriebsmittel in Form eines Auftriebskörpers 26 (Fig. 2). Der Auftriebskörper 26 besteht aus einem Material, dessen Dichte kleiner ist als die des Wassers und ist an den in der Heckkammer 14 vorhandenen Leerraum angepasst. Durch Wahl der Materialdichte und den Abmessungen des Auftriebskörpers 26 kann am Heck ein solcher Auftrieb erzeugt werden, dass das Unterwasserfahrzeug eine exakte Trimmlage einnimmt.In order to counteract the output generated by the cable winding 16 with bobbin 17 output in the rear area and to achieve a good trim position of the underwater vehicle with quasi horizontal orientation of the pressure hull 11 in the water, the rear chamber 14 buoyancy means in the form of a buoyant body 26 (FIG. Fig. 2 ). The buoyant body 26 is made of a material whose density is smaller than that of the water and is adapted to the void space present in the rear chamber 14. By selecting the material density and the dimensions of the buoyant body 26, such buoyancy can be generated at the rear that the underwater vehicle assumes an exact trim position.

Im Ausführungsbeispiel der Fig. 2 ist der Auftriebskörper 26 hohlzylindrisch ausgeführt und in den Innenraum des hohlzylindrischen Spulenträgers 17 eingesetzt. Im Beispiel der Fig. 2 füllt der Auftriebskörper 26 den gesamten, zwischen dem Schraubbolzen 24 und der Innenwand des Spulenträgers 17 vorhandenen Ringraum aus. Ist weniger Auftrieb erforderlich, so kann entweder die axiale Länge des Auftriebskörpers 26 reduziert werden oder für den Auftriebskörper 26 ein Material gewählt werden, das eine größere Dichte aufweist. Wird ein größerer Auftrieb gefordert, so kann die Dichte des Materials des Auftriebskörpers 26 verkleinert werden und/oder - wie dies in Fig. 1 nicht dargestellt ist - ein weiterer Auftriebskörper 26 in der Heckkammer 14 untergebracht werden. Ein solcher zusätzlicher Auftriebskörper 26 kann beispielsweise in die Ausnehmung 21 eingesetzt werden und den von der Scheibe 22 und dem Kopf des Schraubbolzens 24 nicht ausgefüllten Bereich der Ausnehmung 21 belegen.In the embodiment of Fig. 2 the buoyant body 26 is designed as a hollow cylinder and inserted into the interior of the hollow cylindrical bobbin 17. In the example of Fig. 2 the buoyancy body 26 fills the entire, existing between the bolt 24 and the inner wall of the bobbin 17 annulus. If less lift is required, either the axial length of the buoyant body 26 can be reduced or for the Buoyancy 26 are selected a material having a greater density. If a greater buoyancy is required, the density of the material of the buoyant body 26 can be reduced and / or - as in Fig. 1 not shown - a further buoyant body 26 are housed in the rear chamber 14. Such an additional buoyant body 26 can be used, for example, in the recess 21 and occupy the not filled by the disc 22 and the head of the bolt 24 portion of the recess 21.

Wie in Fig. 2 ebenfalls nicht dargestellt ist, kann ein Auftriebskörper zusätzlich oder anstelle des in Fig. 2 dargestellten Auftriebskörpers 26 eingesetzt und in dem Freiraum angeordnet werden, der ggf. zwischen dem Außenumfang des Kabelwickels 16 und der Innenwand der Heckkammer 14 vorhanden ist. Eine solche Anordnung eines Auftriebskörpers anstelle des Auftriebskörpers 26 ist auch dann erforderlich, wenn der Kabelwickel 16 spulenträgerlos ist und das Kabel auf der Innenseite des Kabels abgezogen wird.
In Fig. 3 bis 5 ist ein Auftriebskörper 26' dargestellt, der zur Integration in der Heckkammer 14 bei solchen Unterwasserfahrzeugen vorgesehen ist, die keinen Kabelwickel 16 mit sich führen, gleichwohl über das Datenübertragungskabel 15 von einer Plattform ferngesteuert sind. In diesem Fall ist der Kabelwickel auf der Plattform angeordnet und das vom Kabelwickel ablaufende Kabelende durch die Heckkammer 14 lediglich hindurchgeführt und in der Heckkammer 14 mittels einer Zugentlastung festgelegt. Die Heckkammer 14 ist nach wie vor durch den Auslauftrichter 20 verschlossen.As in Fig. 2 is also not shown, a buoyant body in addition to or instead of in Fig. 2 shown buoyancy body 26 are used and disposed in the space, which may be present between the outer periphery of the cable winding 16 and the inner wall of the rear chamber 14. Such an arrangement of a buoyant body in place of the buoyant body 26 is required even when the cable winding 16 is spoolless and the cable is pulled off on the inside of the cable.
In Fig. 3 to 5 is a buoyancy 26 'shown, which is provided for integration in the rear chamber 14 in such underwater vehicles, which do not carry a cable reel 16 with him, however, are remotely controlled via the data transmission cable 15 from a platform. In this case, the cable winding is arranged on the platform and the cable end running from the cable end only passed through the rear chamber 14 and fixed in the rear chamber 14 by means of a strain relief. The rear chamber 14 is still closed by the discharge funnel 20.

Wie in Fig. 3 bis 5 zu sehen ist, ist der Auftriebskörper 26' zylindrisch ausgebildet, und zwar so, dass er mit seinem Zylindermantel sich an die zylindrische Innenwand der Heckkammer 14 anzulegen vermag. Der Auftriebskörper 26' erstreckt sich je nach erforderlichem Auftrieb mehr oder weniger über die gesamte axiale Länge der Heckkammer 14. Im Auftriebskörper 26' sind eine Durchgangsöffnung 27 und eine Aussparung 28 vorhanden. Die Durchgangsöffnung 27 dient zur Durchführung des Datenübertragungskabels 15 vom Auslauftrichter 20 bis zur Bodenplatte 25 und die Aussparung 28 zur Aufnahme einer hier nicht gezeigten Zugentlastung, die an dem durch die Durchgangsöffnung 27 hindurchgeführten Abschnitt des Datenübertragungskabels 15 angreift und das Datenübertragungskabel 15 in der Heckkammer 14 zugfest festlegt.As in Fig. 3 to 5 can be seen, the buoyancy body 26 'is cylindrical, in such a way that it is able to create with its cylinder jacket to the cylindrical inner wall of the rear chamber 14. The buoyancy body 26 'extends depending on the required buoyancy more or less over the entire axial length of the rear chamber 14. In the buoyancy body 26', a through hole 27 and a recess 28 are present. The passage opening 27 serves to carry out the data transmission cable 15 from the outlet funnel 20 to the bottom plate 25 and the recess 28 for receiving a strain relief, not shown here, which acts on the passed through the passage opening 27 portion of the data transmission cable 15 and the data transmission cable 15 in the rear chamber 14 zugfest sets.

Das beschriebene Unterwasserfahrzeug mit Druckkörper 11 und Heckkammer 14 wird in unveränderter Bauform auch als autonom arbeitendes, eigenangetriebenes, unbemanntes Unterwasserfahrzeug eingesetzt. Damit entfällt eine Fernsteuerung des Unterwasserfahrzeugs durch die Plattform, so dass das Datenübertragungskabel 15 nicht mehr vorhanden ist. Auch bei einem solchen Unterwasserfahrzeug wird die Heckkammer 14 zur Kompensation einer Hecklastigkeit des Unterwasserfahrzeugs herangezogen und mit Auftriebsmitteln zur Herstellung der gewünschte Trimmlage des Unterwasserfahrzeugs versehen.The described underwater vehicle with pressure body 11 and rear chamber 14 is used in unmodified design as autonomously working, self-propelled, unmanned underwater vehicle. This eliminates a remote control of the underwater vehicle through the platform, so that the data transmission cable 15 is no longer available. Even with such an underwater vehicle, the rear chamber 14 is used to compensate for a Hecklastigkeit the underwater vehicle and provided with buoyancy means for producing the desired trim position of the underwater vehicle.

Wie in der Schnittdarstellung in Fig. 6 gezeigt ist, ist die vom Druckkörper 11 abgekehrte Stirnseite der Heckkammer 14 jetzt nicht mehr mit einem Auslauftrichter abgeschlossen, sondern mit einer dichtend eingesetzten Abdeckplatte 29 verschlossen, so dass die Heckkammer 14 einen luftgefüllten Hohlraum 30 bildet, als Auftriebsmittel also Luft verwendet wird. Die Abdeckplatte 29 ist im Durchmesser gestuft ausgeführt und weist einen durchmesserkleineren Plattenabschnitt 291 und einen durchmessergrößeren Plattenabschnitt 292 auf. Der durchmesserkleinere Plattenabschnitt 291 ist in die Heckkammer 14 soweit eingeschoben, bis der durchmessergrößere Plattenabschnitt 292 auf der Stirnseite der Heckkammer 14 aufliegt. Die Befestigung der Abdeckplatte 29 erfolgt durch Schrauben 31, die in Fig. 6 nur symbolisch angedeutet sind und radial durch die Heckkammerwand hindurch in den durchmesserkleineren Plattenabschnitt 291 eingeschraubt werden. Die Abdeckplatte 29 ist vorzugsweise aus Aluminium gefertigt. Der gewünschte Auftrieb im Heckbereich ist durch Änderungen des Gewichts der Abdeckplatte 29 einstellbar, wobei vorzugsweise die axiale Dicke der Abdeckplatte 29 geändert wird. Wird die Abdeckplatte 29 auf der Außenseite des durchmessergrößeren Plattenabschnitts 292 abgetragen, so reduziert sich lediglich das Gewicht der Abdeckplatte 29. Wird die Abdeckplatte 29 auf der innenliegenden Stirnseite des durchmesserkleineren Plattenabschnitts 291 abgetragen, so verändert sich neben dem Gewicht der Abdeckplatte 29 auch das Volumen des in der Heckkammer 14 vorhandenen Hohlraums 30, so dass es zu einer deutlicheren Steigerung des Auftriebs kommt. Selbstverständlich kann auch hier das Gewicht der Abdeckplatte 29 durch Auswahl der Dichte des Plattenmaterials variiert werden.As in the sectional view in Fig. 6 is shown, the side facing away from the pressure body 11 end of the rear chamber 14 is now no longer closed with a discharge funnel, but closed with a sealing inserted cover plate 29, so that the rear chamber 14 is an air-filled Cavity 30 forms, so is used as a buoyant means so air. The cover plate 29 is stepped in diameter and has a smaller diameter plate portion 291 and a larger diameter plate portion 292. The smaller-diameter plate portion 291 is pushed into the rear chamber 14 until the larger-diameter plate portion 292 rests on the front side of the rear chamber 14. The attachment of the cover plate 29 is effected by screws 31, which in Fig. 6 are indicated only symbolically and are screwed radially through the rear chamber wall into the smaller diameter plate portion 291. The cover plate 29 is preferably made of aluminum. The desired buoyancy in the rear region is adjustable by changing the weight of the cover plate 29, wherein preferably the axial thickness of the cover plate 29 is changed. If the cover plate 29 removed on the outside of the larger diameter plate portion 292, so only reduces the weight of the cover plate 29. If the cover plate 29 is removed on the inner end face of the smaller diameter plate portion 291, then the volume of the cover plate 29 changes in addition to the weight of the in the rear chamber 14 existing cavity 30, so that there is a clearer increase in buoyancy. Of course, here too, the weight of the cover plate 29 can be varied by selecting the density of the plate material.

Selbstverständlich ist es auch möglich, die in Fig. 6 leere Heckkammer 14 mit einem Material vollständig oder teilweise auszufüllen, dessen Dichte und Volumen entsprechend dem geforderten Auftrieb gewählt ist. Das Material kann auch in Form eines oder mehrerer einzelner Auftriebskörper eingesetzt werden. Die Heckkammer 14 ist dann nicht wasserdicht verschlossen, sondern geflutet.Of course it is also possible in the Fig. 6 fill empty rear chamber 14 with a material completely or partially, the density and volume is selected according to the required buoyancy. The material can also be used in the form of one or more individual buoyant bodies become. The rear chamber 14 is then not sealed watertight, but flooded.

Claims (3)

  1. Unmanned underwater vehicle having a pressure body (11) around the outside of which water flows, having an aft chamber (14) which is arranged on the pressure body (11) and in which buoyancy means, which have at least one buoyant body (26) whose material has a density which is less than that of the water, are arranged and designed such that a buoyancy force acting on the buoyancy means leads to the pressure body (11) being aligned virtually horizontally in water, having a drive unit and having at least one equipment appliance, which is in the form of a built-in or fitted appliance, characterized in that the aft chamber (14) is flooded, and at least one equipment appliance is a cable winding (16), inserted into the flooded aft chamber (14), of a data transmission cable (15), and in that the at least one buoyant body (26) is matched to the shape of an empty space which is released by the cable winding (16) in the aft chamber (14).
  2. Underwater vehicle according to Claim 1, characterized in that the cable winding (16) is accommodated on a hollow-cylindrical coil former (17), and in that the buoyant body (26) is hollow-cylindrical and is inserted into the inner space enclosed by the coil former (17) or into a free space that exists between the cable winding (16) and the inner wall of the aft chamber (14).
  3. Unmanned underwater vehicle having a pressure body (11) around the outside of which water flows, having an aft chamber (14) which is arranged on the pressure body (11) and in which buoyancy means, which have at least one buoyant body (26) whose material has a density which is less than that of the water, are arranged and designed such that a buoyancy force acting on the buoyancy means leads to the pressure body (11) being aligned virtually horizontally in water, having a drive unit and having at least one equipment appliance, which is in the form of a built-in or fitted appliance, characterized in that the aft chamber (14) is flooded and the cylindrical buoyant body (26') rests with its cylinder casing on the inner wall of the aft chamber (14) and extends over at least a portion of the axial length of the aft chamber (14), and in that the buoyant body (26') has a through-opening (27) for a data transmission cable (15) to be passed through, and has a cutout (28) for accommodating a strain relief means which acts on the data transmission cable (15).
EP05816237A 2004-12-23 2005-12-02 Unmanned underwater vessel Not-in-force EP1827967B1 (en)

Priority Applications (1)

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PL05816237T PL1827967T3 (en) 2004-12-23 2005-12-02 Unmanned underwater vessel

Applications Claiming Priority (2)

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DE102004062126A DE102004062126B4 (en) 2004-12-23 2004-12-23 Unmanned underwater vehicle
PCT/EP2005/012908 WO2006072301A1 (en) 2004-12-23 2005-12-02 Unmanned underwater vessel

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EP1827967A1 EP1827967A1 (en) 2007-09-05
EP1827967B1 true EP1827967B1 (en) 2010-08-04

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EP (1) EP1827967B1 (en)
AT (1) ATE476355T1 (en)
DE (2) DE102004062126B4 (en)
DK (1) DK1827967T3 (en)
ES (1) ES2348959T3 (en)
PL (1) PL1827967T3 (en)
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WO (1) WO2006072301A1 (en)

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DE102006045686B3 (en) * 2006-09-27 2008-02-28 Atlas Elektronik Gmbh Unmanned submarine vehicle has vehicle body and electromotive screw drive energized by accumulator, where power set is attached at vehicle body
DE102009053742B4 (en) 2009-11-18 2012-01-26 Atlas Elektronik Gmbh Unmanned underwater vehicle and device for connecting a fiber optic cable to an unmanned underwater vehicle
DE102010004789A1 (en) * 2010-01-16 2011-07-21 Howaldtswerke-Deutsche Werft GmbH, 24143 submarine
NO332875B1 (en) * 2010-11-29 2013-01-28 Environtec As Equipment and craft for surface cleaning

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DE44088C (en) *
DE1165439B (en) * 1959-07-22 1964-03-12 Spirotechnique Boat for deep sea diving
DE1920653U (en) * 1962-11-01 1965-07-29 Continental Oil Co DIVE BOAT.
US3343511A (en) * 1966-06-13 1967-09-26 Ray F Hinton Hydraulic mercury transfer system
JPS60157989A (en) * 1984-01-26 1985-08-19 Mitsubishi Heavy Ind Ltd Submersible ship equipped with submersible body
DE3739887A1 (en) * 1987-11-25 1989-06-08 Barich Fritz W Underwater vessel
JPH0263993A (en) * 1988-08-30 1990-03-05 Mitsui Eng & Shipbuild Co Ltd Unmanned diving machine

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PT1827967E (en) 2010-10-14
WO2006072301A1 (en) 2006-07-13
ES2348959T3 (en) 2010-12-17
EP1827967A1 (en) 2007-09-05
DE102004062126B4 (en) 2010-07-08
ATE476355T1 (en) 2010-08-15
DE102004062126A1 (en) 2006-07-13
DK1827967T3 (en) 2010-10-11
PL1827967T3 (en) 2011-01-31
DE502005010055D1 (en) 2010-09-16

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