EP1957357B1 - Appliance for lowering and tracking an underwater vessel - Google Patents
Appliance for lowering and tracking an underwater vessel Download PDFInfo
- Publication number
- EP1957357B1 EP1957357B1 EP06805894A EP06805894A EP1957357B1 EP 1957357 B1 EP1957357 B1 EP 1957357B1 EP 06805894 A EP06805894 A EP 06805894A EP 06805894 A EP06805894 A EP 06805894A EP 1957357 B1 EP1957357 B1 EP 1957357B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- carrier
- holding
- underwater vehicle
- spring
- tracking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Not-in-force
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Classifications
-
- 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
- B63G8/42—Towed underwater vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
- B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
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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
- B63G7/00—Mine-sweeping; Vessels characterised thereby
- B63G7/02—Mine-sweeping means, Means for destroying mines
Definitions
- the invention relates to a device for deploying and tracking an unmanned underwater vehicle according to the preamble of claim 1.
- Unmanned underwater vehicles the z. B. used for mine destruction and remote from an air or water-based platform, such as helicopter or surface ship, are left from the platform into the water.
- a dispensing device which has a submarine vehicle in a holder receiving carrier, which is attached to a holding cable. The holding cable is unwound from the platform.
- the dispensing device is advantageously equipped with a track device, which makes it possible to track the unmanned underwater vehicle used in the water and removing it from the dispensing device, ie to determine its position continuously.
- the track device which operates on the SSBL or USBL principle, has a plurality of spaced-apart hydrophones for receiving the sound pulses emitted by a responder located on the underwater vehicle. From the time-delayed reception of the sound pulses and the resulting phase shift between the electrical hydrophone output signals the bearing angle to the underwater vehicle and from the duration of the sound pulses between responder and track device, the distance of the underwater vehicle is calculated.
- the unmanned underwater vehicle equipped with an explosive charge is remotely steered from a submerged platform and the position of the underwater vehicle is continuously determined by means of a track device arranged on the platform, which operates as described above.
- the platform has a dispenser for inserting the underwater vehicle into the water.
- This associated spatial stabilization of the track device makes it possible to determine the exact position of the underwater vehicle even under unfavorable sea weather conditions, and the risk of a track loss, that is the tearing of the acoustic connection between the underwater vehicle and the track device, greatly reduced.
- Such a space-stabilized application device is heavy and relatively expensive in terms of production at relatively high volume.
- the invention has for its object to provide a lightweight, construction small application device with track device for an unmanned underwater vehicle, which is also suitable for handling on small platforms and ensures an acoustically undisturbed work the track device.
- the device according to the invention for deploying and tracking an unmanned underwater vehicle has the advantage that the swivel of the carrier after release of the underwater vehicle, the track device is located at the lowest point of the carrier and the acoustic performance of the track device, in particular the acoustic connection to the underwater vehicle or only little disturbed by components on the carrier, such as the support for the underwater vehicle. Due to the elongated, vertically dipping into the water carrier, at the lower end of the track device is arranged, this is held sufficiently stable in the water, so that a reliable position measurement of the underwater vehicle is ensured.
- a trained eg as a three-axis compass stabilized position sensor in the track device provides information about the orientation of the hydrophone arrangement of the track device, which is then included in the evaluation of the phase shift of the electrical Hydrophonausgangssignale.
- the track device is arranged at that end of the carrier, which faces the rear of the unmanned underwater vehicle grasping part of the holding device.
- the pivoting device on a spring which can be tensioned by preferably manually transferring the carrier in its Ausbringrus.
- the carrier In this deployment position, the carrier is locked by means of a releasable locking device on the holding cable.
- FIG. 1 in perspective side view to see device 11 for deploying and tracking a small, unmanned underwater vehicle 10 has an elongated, narrow, plate-shaped support 12, on the underside of a holding device 13 is arranged for latching the underwater vehicle 10.
- the carrier 12 On its upper side, the carrier 12 carries about two centrally spaced mounting flanges 14, between which a fastening tab 15 dips. Through the two mounting flanges 14 and the fastening tab 15, a pivot pin 16 is passed through which the carrier 12 is pivotally supported on the mounting bracket 15.
- the fastening tab 15 forms the device-side, free end of a holding cable 17, with which the carrier 12 is left with underwater vehicle 10 from a platform to the water.
- the platform has for this purpose a cable winch, by means of which the holding cable 17 can be gefiert and caught up again.
- the platform may be air-based or water-based, e.g. B. a Be helicopter or a surface ship.
- an attenuator 18 is generally still arranged to substantially reduce shocks on the applicator 11 in the rapid stopping of the extension process.
- the holding device 13 has a carrier 12 fixedly arranged on the rear holding member 131 and a pivotally mounted on the carrier 12 front holding member 132.
- a hydraulic or compressed air cylinder 19 is provided, which engages via at least one piston rod to the carrier 12 pivotally mounted on the front holding member 132.
- the underwater vehicle 10 is latched with its rear in the rear support member 131 and with its nose in the front support member 132 by the front support member 132 is pivoted downward and thus the holding device 13 is closed.
- the front support member 132 is pivoted slightly upward by means of the hydraulic or pneumatic cylinder 19, whereby the front support member 132 releases the bow of the underwater vehicle 10 and the latter falls out of the rear support member 131 due to its weight. This is in Fig. 2 shown.
- the underwater vehicle 10 is connected in the embodiment via a cross-section small signal cable with the applicator 11.
- a fiber optic cable 24 is used as a signal cable, which is subtracted when driving the underwater vehicle 10 of two glass fiber spools.
- One fiber optic coil is located in the stern of the underwater vehicle 10 and the other fiber optic coil is in a arranged on the carrier 12 bobbin 21 housed.
- the bobbin 21 is received in a cage 22 and locked against falling out.
- the locking of the bobbin 21 in the cage 22 is released so that the bobbin 21 falls out of the cage and sinks into the water 40 to a between bobbin 21 and support 12 existing connection cable 23rd taut ( Fig. 3 ).
- the fiber optic cable 24 unwinds from the bobbin 21 and simultaneously unwinds from the arranged in the rear of the underwater vehicle 10 glass fiber spool, so that the fiber optic cable 24th not or only slightly on train is charged.
- the carrier 12 carries at its rear free end, on which also the cage 22 is arranged, a track device 25 for tracing the moving underwater vehicle.
- the track device 25 comprises a hydrophone assembly 26 which projects beyond the free end of the carrier 12 and a position sensor 27, the z. B. is a 3-axis stabilized compass.
- the hydrophone assembly 26 consists of a plurality of spaced-apart hydrophones, which receives from a arranged on the underwater vehicle 10 Responder 28 emitted sound pulses.
- An evaluation unit 29 connected downstream of the hydrophone arrangement calculates, from the phase shifts between the electrical hydrophone output signals, taking into account the orientation of the hydrophone arrangement, which is measured by the position sensor 27, a bearing angle to the underwater vessel 10 the fiber optic cable 24 in the responder 28 is electrically triggered, and the evaluation unit 29 measures the duration of the sound pulses from the underwater vehicle 10 to the hydrophone assembly 26 and calculates the distance of the underwater vehicle 10 to the applicator 12 from the bearing angle and distance, the position of the underwater vehicle 10 can be determined at any time ,
- a pivoting device 30 for pivoting the carrier 12 from its dispensing position, in which the underwater vehicle 10 can be disengaged from the holding device 13, in a track position, in which the track device 25 is at most below the articulation point of the carrier 12 on the holding cable 17, that is, at most below the pivot pin 16. Since the carrier 12 is aligned in its dispensing position approximately at right angles to the holding cable 17, the pivoting device 30 rotates the carrier 12 by approximately 90 degrees.
- the pivoting device 30 is inactive in the deployment position of the carrier 12 with the holding device 13 closed and is activated with or after opening the holding device 13 and the associated notching of the underwater vehicle 10.
- the pivoting device 30 has a spring 32, which is tensioned in the Ausbringrus of the carrier 12, and a releasable Verrieglungsvorraum 31 which locks the carrier 12 in its Ausbring too on the holding cable 17, more precisely on the mounting flange 14 of the holding cable 17 at tensioned spring 32 ( Fig. 4 ).
- the spring 32 is formed as a spiral spring 33, the inner spring leg 331 at the mounting tab 15 and the outer spring leg 332 at the in Fig. 4 front mounting flange 14 of the carrier 12 is fixed.
- the locking device 31 comprises a spring-loaded locking member 34, which on the in Fig. 4 rear mounting flange 14 is axially slidably disposed, and cooperating with the locking member 34 locking groove 35 which is formed in the fastening tab 15.
- the Verrieglungsvoriques 31 can be solved by means of an electromagnet 37, which lifts the armature of the electromagnet 37 forming locking member 34 from the locking groove 35 when energized.
- the carrier 12 released from the underwater vehicle 10 pivots in the direction of the arrow 38 in FIG Fig. 4 , The end of the carrier 12 carrying the track device 25 pivots downwards and dips into the water 40, as shown in FIG Fig. 3 is illustrated.
- the fastening tab 15 has a second locking groove 39, which is offset by 90 ° circumferential angle relative to locking groove 35.
- the spring-loaded locking member 34 in the second locking groove 39 locks the approximately parallel to the holding cable 17 aligned carrier 12 in this Fig. 3 position shown.
- the carrier 12 is first manually pivoted into a rotational position in which it is oriented approximately horizontally.
- the coil spring 33 is tensioned, and at the end of the pivoting path, the locking device 31 is effective by the locking member 34 is incident under the action of the locking spring 36 in the locking groove 35.
- the underwater vehicle 10 is inserted into the holding device 13 and the holding device 13 is closed by pivoting the front holding member 132.
- the bobbin 31 is inserted into the cage 20 and also locked therein.
- the applicator 11 is lowered from the platform by fusing the holding cable 17 with the underwater vehicle 10 latched in the holding device 13 onto the water surface 41.
- a release control unit 42 arranged on the carrier 12 activates the hydraulic or compressed air cylinder 19, which pivots the front holding member 132 upwards, so that it lifts off from the bow of the underwater vehicle 10.
- the released underwater vehicle 10 falls out of the rear holding member 131 and dives through the surface 41 into the water, as shown in FIG Fig. 2 is illustrated.
- With falling out of the underwater vehicle 10 and the bobbin 21 is released, which falls out of the cage 22 and also dips through the water surface 41 into the water 40, then to sink until the tensioning of the connecting cable 23.
- the tense Coil spring 33 rotates the carrier (12) in the direction of arrow 38 (FIG. Fig. 4 ) until the spring-loaded locking member 34 is incident on the second locking groove 39.
- the track device 35 lies maximally below the pivot pin 16 and dives through the water surface 41 into the water 40.
- the holding cable 17 is now further gefiert until the entire dispenser is submerged under the water surface.
- the track device 25 assumes an optimal position below the water surface 41 and can maintain an undisturbed, acoustic connection to the responder 28 of the underwater vehicle 10 while the underwater vehicle 10 is traveling.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Catching Or Destruction (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
Description
Die Erfindung betrifft ein Gerät zum Ausbringen und Tracken eines unbemannten Unterwasserfahrzeugs nach dem Oberbegriff des Anspruchs 1.The invention relates to a device for deploying and tracking an unmanned underwater vehicle according to the preamble of claim 1.
Unbemannte Unterwasserfahrzeuge, die z. B. zur Minenvernichtung eingesetzt und von einer luft- oder wassergestützten Plattform aus, wie Hubschrauber oder Oberflächenschiff, ferngelenkt werden, werden von der Plattform aus ins Wasser gelassen. Hierzu dient ein Ausbringgerät, das einen das Unterwasserfahrzeug in einer Halterung aufnehmenden Träger aufweist, der an einem Haltekabel befestigt ist. Das Haltekabel wird von der Plattform aus abgespult. Das Ausbringgerät ist vorteilhaft mit einer Trackvorrichtung ausgestattet, die es erlaubt, das ins Wasser eingesetzte und vom Ausbringgerät sich entfernende unbemannten Unterwasserfahrzeug zu tracken, d. h. fortlaufend dessen Position zu bestimmen. Die Trackvorrichtung, die nach dem SSBL- oder USBL-Prinzip arbeitet, weist mehrere im Abstand voneinander angeordnete Hydrophone zum Empfangen der von einem am Unterwasserfahrzeug angeordneten Responder ausgesendeten Schallimpulse auf. Aus dem zeitverschobenen Empfang der Schallimpulse und der daraus resultierenden Phasenverschiebung zwischen den elektrischen Hydrophonausgangssignalen wird der Peilwinkel zum Unterwasserfahrzeug und aus der Laufzeit der Schallimpulse zwischen Responder und Trackeinrichtung die Entfernung des Unterwasserfahrzeugs berechnet.Unmanned underwater vehicles, the z. B. used for mine destruction and remote from an air or water-based platform, such as helicopter or surface ship, are left from the platform into the water. For this purpose, a dispensing device, which has a submarine vehicle in a holder receiving carrier, which is attached to a holding cable. The holding cable is unwound from the platform. The dispensing device is advantageously equipped with a track device, which makes it possible to track the unmanned underwater vehicle used in the water and removing it from the dispensing device, ie to determine its position continuously. The track device, which operates on the SSBL or USBL principle, has a plurality of spaced-apart hydrophones for receiving the sound pulses emitted by a responder located on the underwater vehicle. From the time-delayed reception of the sound pulses and the resulting phase shift between the electrical hydrophone output signals the bearing angle to the underwater vehicle and from the duration of the sound pulses between responder and track device, the distance of the underwater vehicle is calculated.
Bei einem System zum Aufspüren und Vernichten von Seeminen (
Es ist bereits vorgeschlagen worden, eine solche Unterwasserplattform mit Trackeinrichtung selbst als Ausbringgerät für ein unbemanntes Unterwasserfahrzeug auszubilden. Die Unterwasserplattform ist an einem Ausbringseil befestigt und wird z. B. von einem Hubschrauber ins Wasser abgesetzt. Die Haltevorrichtung für das unbemannte Unterwasserfahrzeug ist an der Unterseite der Plattform angeordnet, und die Plattform ist mit einem elektromotorischen Eigenantrieb ausgerüstet. Nach Aussetzen der Plattform und deren Lösen vom Ausbringseil wird die Plattform mittels vertikal und horizontal wirkender Manöverierantriebe um ihre Roll- Nick- und Gierachse stabilisiert. Durch diese damit einhergehende Raumstabilisierung der Trackeinrichtung ist eine genaue Positionsbestimmung des Unterwasserfahrzeugs auch unter ungünstigen Seewetterbedingungen möglich, und die Gefahr eines Trackverlusts, also des Abreißens der akustischen Verbindung zwischen Unterwasserfahrzeug und Trackeinrichtung, stark reduziert. Ein solches raumstabilisiertes Ausbringgerät ist bei relativ großem Volumen schwergewichtig und fertigungstechnisch sehr aufwendig.It has already been proposed to form such an underwater platform with track device itself as an applicator for an unmanned underwater vehicle. The underwater platform is attached to a Ausbringseil and z. B. sold by a helicopter into the water. The unmanned underwater vehicle restraint is located on the underside of the platform, and the platform is equipped with an electromotive propulsion system. After exposing the platform and releasing it from the discharge rope, the platform is stabilized by means of vertically and horizontally acting maneuvering drives around its rolling pitch and yaw axis. This associated spatial stabilization of the track device makes it possible to determine the exact position of the underwater vehicle even under unfavorable sea weather conditions, and the risk of a track loss, that is the tearing of the acoustic connection between the underwater vehicle and the track device, greatly reduced. Such a space-stabilized application device is heavy and relatively expensive in terms of production at relatively high volume.
Der Erfindung liegt die Aufgabe zugrunde, ein leichtes, baukleines Ausbringgerät mit Trackvorrichtung für ein unbemanntes Unterwasserfahrzeug zu schaffen, das auch zur Handhabung auf kleinen Plattformen geeignet ist und ein akustisch ungestörtes Arbeiten der Trackvorrichtung gewährleistet.The invention has for its object to provide a lightweight, construction small application device with track device for an unmanned underwater vehicle, which is also suitable for handling on small platforms and ensures an acoustically undisturbed work the track device.
Die Aufgabe ist erfindungsgemäß durch die Merkmale im Anspruch 1 gelöst.The object is achieved by the features in claim 1.
Das erfindungsgemäße Gerät zum Ausbringen und Tracken eines unbemannten Unterwasserfahrzeugs hat den Vorteil, dass durch das Schwenken des Trägers nach Freigabe des Unterwasserfahrzeugs die Trackvorrichtung sich an dem tiefstliegenden Punkt des Trägers befindet und die akustische Leistung der Trackvorrichtung, insbesondere die akustische Verbindung zum Unterwasserfahrzeug nicht oder nur wenig durch Bauelemente am Träger, wie die Halterung für das Unterwasserfahrzeug, gestört wird. Durch den langgestreckten, vertikal ins Wasser eintauchenden Träger, an dessen unterem Ende die Trackvorrichtung angeordnet ist, ist diese ausreichend stabil im Wasser gehalten, so dass eine zuverlässige Positionsvermessung des Unterwasserfahrzeugs gewährleistet ist. Ein z.B. als dreiachsig stabilisierter Kompaß ausgebildeter Lagesensor in der Trackvorrichtung gibt Informationen über die Ausrichtung der Hydrophonanordnung der Trackeinrichtung, die dann in die Auswertung der Phasenverschiebung der elektrischen Hydrophonausgangssignale einbezogen wird.The device according to the invention for deploying and tracking an unmanned underwater vehicle has the advantage that the swivel of the carrier after release of the underwater vehicle, the track device is located at the lowest point of the carrier and the acoustic performance of the track device, in particular the acoustic connection to the underwater vehicle or only little disturbed by components on the carrier, such as the support for the underwater vehicle. Due to the elongated, vertically dipping into the water carrier, at the lower end of the track device is arranged, this is held sufficiently stable in the water, so that a reliable position measurement of the underwater vehicle is ensured. A trained eg as a three-axis compass stabilized position sensor in the track device provides information about the orientation of the hydrophone arrangement of the track device, which is then included in the evaluation of the phase shift of the electrical Hydrophonausgangssignale.
Zweckmäßige Ausführungsformen des erfindungsgemäßen Ausbringgeräts mit vorteilhaften Weiterbildungen und Ausgestaltungen der Erfindung ergeben sich aus den weiteren Ansprüchen.Advantageous embodiments of the dispensing device according to the invention with advantageous developments and refinements of the invention will become apparent from the other claims.
Gemäß einer bevorzugten Ausführungsform der Erfindung ist die Trackvorrichtung an demjenigen Ende des Trägers angeordnet, das dem das Heck des unbemannten Unterwasserfahrzeug fassenden Teil der Haltevorrichtung zugekehrt ist. Dies hat den Vorteil, dass die Trackvorrichtung beim Ausklinken des Unterwasserfahrzeugs aus der Haltevorrichtung, was durch Abschwenken des den Bug des Unterwasserfahrzeugs greifenden vorderen Teils der Haltevorrichtung herbeigeführt wird, nicht beschädigt werden kann.According to a preferred embodiment of the invention, the track device is arranged at that end of the carrier, which faces the rear of the unmanned underwater vehicle grasping part of the holding device. This has the advantage that the track device when releasing the underwater vehicle from the holding device, which is brought about by pivoting the front of the holding device engaging the bow of the underwater vehicle, can not be damaged.
Gemäß einer vorteilhaften Ausführungsform der Erfindung weist die Schwenkvorrichtung eine Feder auf, die durch vorzugsweise manuelles Überführen des Trägers in seine Ausbringstellung spannbar ist. In dieser Ausbringstellung wird der Träger mittels einer lösbaren Verriegelungsvorrichtung am Haltekabel verriegelt.According to an advantageous embodiment of the invention, the pivoting device on a spring which can be tensioned by preferably manually transferring the carrier in its Ausbringstellung. In this deployment position, the carrier is locked by means of a releasable locking device on the holding cable.
Die Erfindung ist anhand eines in der Zeichnung dargestellten Ausführungsbeispiels im folgenden näher beschrieben. Es zeigen:
- Fig. 1
- eine Seitenansicht eines Ausbringgeräts in seiner Ausbringstellung mit einem in einer Haltevorrichtung aufgenommenen, unbemannten Unterwasserfahrzeug,
- Fig. 2
- eine gleiche Darstellung wie in
Fig. 1 nach Ausklinken des Unterwasserfahrzeugs aus der Haltevorrichtung im Moment des Eintauchens des Unterwasserfahrzeugs ins Wasser, - Fig. 3
- eine gleiche Darstellung wie in
Figur 1 bei ins Wasser ausgesetztem Unterwasserfahrzeug und in Trackstellung sich befindlichem Ausbringgerät, - Fig. 4
- eine schematisierte, vergrößerte Darstellung des Ausschnitts IV in
Fig. 1 .
- Fig. 1
- a side view of a dispensing device in its deployment position with a recorded in a holding device, unmanned underwater vehicle,
- Fig. 2
- a same representation as in
Fig. 1 after disengaging the underwater vehicle from the holding device at the moment of submersion of the underwater vehicle into the water, - Fig. 3
- a same representation as in
FIG. 1 in the case of an underwater vehicle exposed to water and in the track position of the dispensing device located, - Fig. 4
- a schematic, enlarged view of the section IV in
Fig. 1 ,
Das in
Die Haltevorrichtung 13 weist ein am Träger 12 fest angeordnetes hinteres Halteglied 131 und ein am Träger 12 schwenkbar angeordnetes vorderes Halteglied 132 auf. Zum Schwenken des vorderen Halteglieds 132 ist mindestens ein Hydraulik- oder Pressluftzylinder 19 vorgesehen, der über mindestens eine Kolbenstange an dem am Träger 12 schwenkbeweglich gelagerten vorderen Halteglied 132 angreift.The
Wie in
Das Unterwasserfahrzeug 10 ist im Ausführungsbeispiel über ein querschnittskleines Signalkabel mit dem Ausbringgerät 11 verbunden. Üblicherweise wird als Signalkabel ein Glasfaserkabel 24 verwendet, das bei Fahrt des Unterwasserfahrzeugs 10 von zwei Glasfaserspulen abgezogen wird. Die eine Glasfaserspule befindet sich im Heck des Unterwasserfahrzeugs 10 und die andere Glasfaserspule ist in einem am Träger 12 angeordneten Spulentopf 21 untergebracht. Der Spulentopf 21 ist in einem Käfig 22 aufgenommen und gegen Herausfallen verriegelt. Mit Aufschwenken oder unmittelbar nach Aufschwenken des vorderen Halteglieds 132 der Haltevorrichtung 13 wird auch die Verriegelung des Spulentopf 21 im Käfig 22 gelöst, so dass der Spulentopf 21 aus dem Käfig herausfällt und ins Wasser 40 absinkt bis ein zwischen Spulentopf 21 und Träger 12 vorhandenes Verbindungskabel 23 straff gespannt ist (
Der Träger 12 trägt an seinem hinteren freien Ende, an dem auch der Käfig 22 angeordnet ist, eine Trackvorrichtung 25 zum Verfolgen des sich entfernenden Unterwasserfahrzeugs. Wie in
Zwischen Träger 12 und Haltekabel 17, genauer gesagt zwischen dem Träger 12 und der Befestigungslasche 15 am Haltekabel 17, ist eine Schwenkvorrichtung 30 zum Schwenken des Trägers 12 aus seiner Ausbringstellung, in welcher das Unterwasserfahrzeug 10 aus der Haltevorrichtung 13 ausklinkbar ist, in eine Trackstellung, in welcher die Trackvorrichtung 25 maximal unterhalb des Anlenkpunktes des Träger 12 am Haltekabel 17, also maximal unterhalb des Drehbolzens 16 liegt. Da der Träger 12 in seiner Ausbringstellung etwa rechtwinklig zum Haltekabel 17 ausgerichtet ist, dreht die Schwenkvorrichtung 30 den Träger 12 um ca. 90 Grad. Die Schwenkvorrichtung 30 ist in der Ausbringstellung des Trägers 12 bei geschlossener Haltevorrichtung 13 inaktiv und wird mit oder nach Öffnen der Haltevorrichtung 13 und dem damit verbundenen Ausklinken des Unterwasserfahrzeugs 10 aktiviert.Between
Die Schwenkvorrichtung 30 weist eine Feder 32, die in der Ausbringstellung des Trägers 12 gespannt ist, und eine lösbare Verrieglungsvorrichtung 31 auf, die bei gespannter Feder 32 den Träger 12 in dessen Ausbringstellung am Haltekabel 17, genauer gesagt am Befestigungsflansch 14 des Haltekabels 17, verriegelt (
In der in
Soll ein Unterwasserfahrzeug 10 von einer Plattform aus in einem Seegebiet abgesetzt werden, so wird zunächst der Träger 12 manuell in eine Drehlage geschwenkt, in welcher er etwa horizontal ausgerichtet ist. Bei dieser Schwenkbewegung des Trägers 12 wird die Spiralfeder 33 gespannt, und am Ende des Schwenkweges wird die Verriegelungsvorrichtung 31 wirksam, indem das Sperrglied 34 unter der Wirkung der Verriegelungsfeder 36 in die Verriegelungsnut 35 einfällt. Nunmehr wird das Unterwasserfahrzeug 10 in die Haltevorrichtung 13 eingesetzt und die Haltevorrichtung 13 durch Abschwenken des vorderen Halteglieds 132 geschlossen. Der Spulentopf 31 wird in den Käfig 20 eingesetzt und darin ebenfalls arretiert.If an
Nunmehr wird von der Plattform aus durch Fieren des Haltekabels 17 das Ausbringgerät 11 mit in der Haltevorrichtung 13 eingeklinktem Unterwasserfahrzeug 10 auf die Wasseroberfläche 41 herabgelassen. Eine auf dem Träger 12 angeordnete Auslöse-Steuereinheit 42 aktiviert den Hydraulik- oder Pressluftzylinder 19, der das vordere Halteglied 132 nach oben schwenkt, so dass es vom Bug des Unterwasserfahrzeugs 10 abhebt. Das freigegebene Unterwasserfahrzeug 10 fällt aus dem hinteren Halteglied 131 heraus und taucht durch die Oberfläche 41 hindurch ins Wasser ein, wie dies in
Claims (9)
- Appliance for deployment and tracking of an unmanned underwater vehicle (10) having a carrier (12) which is arranged at the end of a holding cable (17), having a holding apparatus (13), which is arranged on the carrier (12), for holding the underwater vehicle (10), which holding apparatus (13) has a controllable holding element (13) for unlatching the underwater vehicle (10) from the holding apparatus (13), and having a tracking apparatus (25), which is arranged on the carrier (12), for acoustically finding the position of the underwater vehicle (10) which is being deployed in the water (40), characterized in that the tracking apparatus (25) is arranged at one end of the elongated carrier (12), in that the carrier (12) is articulated on the holding cable (17) in its central longitudinal area such that it can pivot, and in that a pivoting apparatus (30), which can be activated once the underwater vehicle (10) has been unlatched from the holding apparatus (13), is provided in order to pivot the carrier (12) from a deployment position, in which the underwater vehicle (10) is deployed, to a tracking position, in which the tracking apparatus (25) is located, preferably as far as possible, below the carrier articulation point on the holding cable (17).
- Appliance according to claim 1, characterized in that the tracking apparatus (25) is arranged at that end of the carrier (12) which faces the rear holding element (131), which grips the stern of the underwater vehicle (10), of the holding apparatus (13).
- Appliance according to claim 1 or 2, characterized in that the carrier (12) is aligned approximately at right angles to the holding cable (17) in its deployment position, and is aligned approximately parallel to the holding cable (17) in its tracking position.
- Appliance according to one of claims 1 to 3, characterized in that the pivoting apparatus (30) has a spring (32), which can be loaded by moving the carrier (12) to its deployment position, and a detachable locking apparatus (31), which locks the carrier (12) to the holding cable (17) at least in its deployment position.
- Appliance according to claim 4, characterized in that the locking apparatus (31) can be released with a time delay when the holding apparatus is opened.
- Appliance according to claim 4 or 5, characterized in that the end of the holding cable (17) is formed by an attachment lug (15) on which the cable-end articulation point of the carrier (12) is provided by means of a rotating bolt (16), and in that the spring (32) is a spiral spring (33), one of whose spring ends (331) is fixed to the attachment lug (15), and whose other spring end (332) is fixed to the carrier (12).
- Appliance according to claim 6, characterized in that the locking apparatus (31) has a spring-loaded blocking element (34) and a locking groove (35) which holds the blocking element (34), which are formed alternately on the attachment lug (15) and on the carrier (12), and in that the blocking element (34) can be pulled out of the locking groove (35) mechanically or electromagnetically against the spring force of a locking spring (36).
- Appliance according to one of claims 4 to 7, characterized in that the carrier (12) is latched to the holding cable (17) in its tracking position.
- Appliance according to claim 8, characterized in that the blocking element (34) is arranged on the carrier (12) and the attachment lug (15) has two locking grooves (35, 39) which are offset through 90 degrees, one locking groove (35) of which holds the spring-loaded blocking element (34) when the carrier (12) is in the deployment position, while one locking groove (39) holds the spring-loaded blocking element (34) when the carrier (12) is in the tracking position.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL06805894T PL1957357T3 (en) | 2005-12-07 | 2006-09-27 | Appliance for lowering and tracking an underwater vessel |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005058475A DE102005058475B3 (en) | 2005-12-07 | 2005-12-07 | Device for deploying and tracking unmanned underwater vehicle has tracking device on end of oblong support pivotably joined to holding cable in central region, pivoting device activated after unlatching of vessel from holding device |
PCT/EP2006/009371 WO2007065495A1 (en) | 2005-12-07 | 2006-09-27 | Appliance for lowering and tracking an underwater vessel |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1957357A1 EP1957357A1 (en) | 2008-08-20 |
EP1957357B1 true EP1957357B1 (en) | 2009-03-11 |
Family
ID=37478856
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06805894A Not-in-force EP1957357B1 (en) | 2005-12-07 | 2006-09-27 | Appliance for lowering and tracking an underwater vessel |
Country Status (12)
Country | Link |
---|---|
US (1) | US7878138B2 (en) |
EP (1) | EP1957357B1 (en) |
JP (1) | JP4686610B2 (en) |
AT (1) | ATE425078T1 (en) |
AU (1) | AU2006322417B8 (en) |
DE (2) | DE102005058475B3 (en) |
ES (1) | ES2322401T3 (en) |
IL (1) | IL191114A (en) |
NO (1) | NO337418B1 (en) |
PL (1) | PL1957357T3 (en) |
PT (1) | PT1957357E (en) |
WO (1) | WO2007065495A1 (en) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
DE102010033638A1 (en) * | 2010-08-06 | 2012-02-09 | Atlas Elektronik Gmbh | Combustion agent for clearing munitions, such as sea mines, under water, unmanned underwater vehicle with such ordnance and apparatus for this purpose |
FR2969573B1 (en) * | 2010-12-23 | 2013-02-08 | Eca | DEVICE FOR BRINGING TO THE WATER AND RECOVERING A SUBMERSIBLE OR SURFACE MACHINE. |
US9067648B2 (en) * | 2012-09-05 | 2015-06-30 | Raytheon Company | Unmanned underwater vehicle launcher |
AU2013204965B2 (en) | 2012-11-12 | 2016-07-28 | C2 Systems Limited | A system, method, computer program and data signal for the registration, monitoring and control of machines and devices |
DE102014111488A1 (en) * | 2014-08-12 | 2016-02-18 | Atlas Elektronik Gmbh | Starting device and vehicle |
US9928764B2 (en) | 2014-08-29 | 2018-03-27 | Charles M. Heath | Illuminated support mount for vehicle flag |
CN109334921B (en) * | 2018-11-06 | 2023-08-08 | 湖南工程学院 | Underwater robot |
CN109884729B (en) * | 2019-04-11 | 2021-04-16 | 上海大学 | Torpedo detection control system and method with cooperation of unmanned boat and robotic fish |
DE102020208327A1 (en) | 2020-07-02 | 2022-01-05 | Atlas Elektronik Gmbh | Transport box for setting down a watercraft |
CN113247216B (en) * | 2021-06-11 | 2022-04-08 | 哈尔滨工业大学 | Grabbing and releasing device for unmanned underwater vehicle |
CN117087818B (en) * | 2023-07-10 | 2024-05-07 | 大连海事大学 | A-shaped frame submersible vehicle cloth-laying, recycling and swing-reducing device and working method thereof |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3380103A (en) * | 1966-06-21 | 1968-04-30 | Electrolux Corp | Duplex vacuum cleaner nozzle |
US3880103A (en) * | 1972-08-21 | 1975-04-29 | Us Navy | Tethered mine hunting system |
NO902883D0 (en) * | 1990-06-28 | 1990-06-28 | Bentech Subsea As | PROCEDURE AND APPARATUS FOR SEARCHING AN OBJECTS. |
CA2076151C (en) * | 1992-08-14 | 1997-11-11 | John Brooke | System for handling a remotely operated vessel |
FR2722164B1 (en) * | 1994-07-08 | 1996-09-13 | Eca | IMPROVED PROCESS FOR THE DESTRUCTION OF AN UNDERWATER OBJECT, ESPECIALLY FROM A SUBMERSIBLE MINE |
US5752460A (en) * | 1996-02-02 | 1998-05-19 | The United States Of America As Represented By The Secretary Of The Navy | Submergible towed body system |
US6279501B1 (en) * | 2000-09-28 | 2001-08-28 | Mentor Subsea Technology Services, Inc. | Umbilical constraint mechanism |
FR2868038B1 (en) * | 2004-03-29 | 2006-06-02 | Eca Societe Par Actions Simpli | DEVICE FOR OBSERVING SUBMARINE OBJECTS |
EP1582445A1 (en) | 2004-03-30 | 2005-10-05 | de Jongh, Eddy | Mining truck |
-
2005
- 2005-12-07 DE DE102005058475A patent/DE102005058475B3/en not_active Expired - Fee Related
-
2006
- 2006-09-27 JP JP2008543671A patent/JP4686610B2/en not_active Expired - Fee Related
- 2006-09-27 AU AU2006322417A patent/AU2006322417B8/en not_active Ceased
- 2006-09-27 EP EP06805894A patent/EP1957357B1/en not_active Not-in-force
- 2006-09-27 US US12/086,150 patent/US7878138B2/en not_active Expired - Fee Related
- 2006-09-27 AT AT06805894T patent/ATE425078T1/en not_active IP Right Cessation
- 2006-09-27 DE DE502006003136T patent/DE502006003136D1/en active Active
- 2006-09-27 ES ES06805894T patent/ES2322401T3/en active Active
- 2006-09-27 PT PT06805894T patent/PT1957357E/en unknown
- 2006-09-27 WO PCT/EP2006/009371 patent/WO2007065495A1/en active Application Filing
- 2006-09-27 PL PL06805894T patent/PL1957357T3/en unknown
-
2008
- 2008-04-27 IL IL191114A patent/IL191114A/en active IP Right Grant
- 2008-07-07 NO NO20083052A patent/NO337418B1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
AU2006322417B8 (en) | 2010-03-25 |
WO2007065495A1 (en) | 2007-06-14 |
AU2006322417B2 (en) | 2010-03-04 |
IL191114A (en) | 2011-10-31 |
NO337418B1 (en) | 2016-04-11 |
JP2009518216A (en) | 2009-05-07 |
US7878138B2 (en) | 2011-02-01 |
EP1957357A1 (en) | 2008-08-20 |
DE102005058475B3 (en) | 2007-01-04 |
JP4686610B2 (en) | 2011-05-25 |
ATE425078T1 (en) | 2009-03-15 |
PT1957357E (en) | 2009-04-27 |
PL1957357T3 (en) | 2009-08-31 |
US20090151617A1 (en) | 2009-06-18 |
NO20083052L (en) | 2008-07-07 |
AU2006322417A1 (en) | 2007-06-14 |
ES2322401T3 (en) | 2009-06-19 |
DE502006003136D1 (en) | 2009-04-23 |
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