EP2003053A1 - Device and procedure to abandon and recover an underwater vehicle and method of docking an underwater vehicle to such a device - Google Patents

Abstract

The apparatus (2) has an insertion/extraction device (28) arranged at an end of a movable tube (8) made of carbon-fiber-reinforced plastic. The insertion/extraction device takes a form of the tube of a ring in a retracted state, and takes a form of a funnel in an extended state. The insertion/extraction device is formed with an opening (35) at the end facing away from the tube, where the insertion/extraction device has an alignment unit (42) e.g. optical device. The alignment unit is arranged at mutually equidistant intervals on an edge of the device. Independent claims are also included for the following: (1) a method for recovering an underwater vehicle (2) a method for deploying an underwater vehicle (3) a method for docking an underwater vehicle.

Description

The invention relates to a device for suspending and recovering an underwater vehicle, which can be introduced into a recovery pipe of a marine recovery vehicle. In addition, the invention is based on a method for salvage and a method for suspending an underwater vehicle with such a device, which is introduced into a recovery pipe of a marine recovery vehicle. Furthermore, the invention relates to a method for docking an underwater vehicle to such a device, which is introduced into a recovery pipe of a marine recovery vehicle.

In the US 6,502,527 B1 It is generally described that unmanned underwater vehicles are used specifically for reconnaissance missions in both the research and military fields. Some of these missions make it necessary to retrieve such an underwater vehicle again by an underwater recovery vehicle, such as a submarine. Especially if it is a covert mission to collect data or a very costly underwater vehicle, a salvage of the same is of great interest.

There are numerous approaches that could allow the recovery of an underwater vehicle by a submarine. One possibility is to provide a device for recovering an underwater vehicle on the outer shell of a submarine. A submarine should, however, usually work as a so-called "covert observer". So that it is not easily locatable by third parties, submarines are mostly optimized in their form that they have a very difficult to locate signature. Would Thus, a salvage device attached retroactively to the exterior of a submarine and thus its signature permanently changed or deteriorated, this effect would be destroyed. In addition, by attaching such a device direct intervention on a submarine is necessary, which is usually associated with high costs.

From the US 6,502,527 B1 itself is a system for the recovery of submerged devices, such as underwater vehicles known. In this case, a retractable salvage component is arranged in a salvage tube of an underwater recovery vehicle, which has at its end a swing arm swinging in and out. This gripper arm can intervene in an underwater device and then align this device on a further salvage tube and then push into this salvage tube. Disadvantageously, at least two salvage tubes are required for a salvage operation, namely one for the salvage component and one for the underwater vehicle to be sheltered. In addition, the two salvage tubes must be arranged to each other so that the gripper arm can spend the underwater vehicle in his intended recovery salvage.

From the US 5,447,115 For example, a salvage apparatus is known which consists of a plurality of concentric tubes which extend telescopically through a torpedo shaft of a submarine to its outer shell. Within the salvage equipment is a salvage vehicle which is connected to the salvage equipment via a winch that can be rewound by means of a winch. To recover an underwater vehicle, the salvage vehicle is fired from the salvage equipment, but remains connected to the tether. Then the salvage vehicle connects via a male coupling piece with a corresponding female coupling counterpart on the underwater vehicle to be sheltered. Then the tether is rolled up again and the underwater vehicle connected to the salvage vehicle is pulled into the torpedo shaft. The concentric tubes of the salvage equipment are moved back further and the underwater vehicle remains in the torpedo shaft. A disadvantage of this salvage concept is that not only a salvage equipment per se, but also an extra recovery vehicle for salvage an underwater vehicle is needed. In addition, salvage vehicle and underwater vehicle must be coordinated with each other in terms of coupling so that salvage is possible at all. In addition, there is a risk of collisions of the Recovery device as well as the underwater vehicle with the torpedo shaft during the pulling operation, if the salvage equipment is not aligned exactly with the opening of the torpedo shaft. Such collisions may result in damage to the recovery vehicle and underwater vehicle as well as tilting thereof within the torpedo shaft.

The invention has for its object to provide a device for suspending and recovering an underwater vehicle which can be introduced into a salvage pipe of a marine recovery vehicle, which does not require extensive modifications to the recovery pipe of a marine recovery vehicle or has a large footprint. It is a further object of the present invention to provide both a method of suspension and a method of recovering a submersible with such a device incorporated into a retrieval tube of a submersible recovery vehicle that enables easy and safe deployment or recovery of an underwater vehicle. In addition, the invention has for its object to provide a method for docking an underwater vehicle to the aforementioned device, which is introduced into a salvage pipe of a marine recovery vehicle, which allows autonomous recovery of an underwater vehicle.

The object directed to the device is achieved by a device of the type mentioned in the present invention, that the device comprises a movable tube which is provided at one of its ends with an insertion / extraction means, which in a retracted state, the shape of a tube or a ring and in the extended state has the shape of a funnel.

The term "movable tube" is understood here to mean that either the tube as a whole or at least parts of it can be moved or moved.

The invention is based on the recognition that a device for recovering an underwater vehicle introduced into a recovery pipe does not require costly intervention on an underwater recovery vehicle, in particular a submarine, since such vehicles generally have a multiplicity of pipes suitable for recovery, for example in the form of torpedo tubes. In addition, the invention is based on the recognition that underwater vehicles that are used, for example, for reconnaissance purposes, generally have dimensions that an introduction into a tube, for example, only having a slightly smaller inner diameter than serving as a recovery tube torpedo tube, easily allow.

In a next step, the invention is based on the recognition that by the substantially completely tubular design of the device - namely tube and insertion / extraction means in the form of a tube or a ring in the retracted state or in the form of a funnel in the extended state - the underwater vehicle can not only pass through the device during a suspension operation or a recovery operation, but also a storage of the underwater vehicle within the device is possible. This space-saving or the space available within a salvage tube optimally exploiting embodiment of the device thus makes it possible that the device and the underwater vehicle to be sheltered only claim a common salvage tube in a underwater recovery vehicle. The other salvage tubes in an underwater recovery vehicle are thus available for other purposes, such as torpedoes or equipment with other devices for suspending and salvaging underwater vehicles or for direct placement with underwater vehicles themselves. Due to the tubular design of the device, it is also possible that an underwater vehicle such as a heavyweight torpedo can be loaded into the salvage pipe. In addition, it is also possible that due to the end of the tube of the device open towards the interior of the submersible, an underwater vehicle may remain in communication with the submersible vehicle via a "umbilical cord" in the form of a fiber optic cable during execution of its data exchange mission. This allows a real-time data exchange between underwater recovery vehicle and underwater vehicle during its mission. It is therefore a "man-in-the-loop" concept, which allows an operator aboard the underwater recovery vehicle, for example, in imminent danger to the underwater vehicle to change its mission in the short term or even cancel by appropriate commands over the fiber optic cable be transmitted. In addition, it may be provided that the underwater vehicle before its suspension or after its recovery, when stored in the tube, is connected by means of a cable, such as an electric cable with an interface on the underwater recovery vehicle to provide information about the overall state of the underwater vehicle via this interface to be able to read. For this purpose, the underwater vehicle itself of course has a corresponding interface to which the aforementioned cable can be connected.

In a further step, the invention starts from the knowledge that, depending on the degree of the retracted / extended state of the insertion / extraction means, an underwater vehicle can be firmly enclosed with the same along its circumference, which makes it possible to grasp or guide the underwater vehicle is. This means that the insertion / extraction means can perform a kind of pliers function. In addition, the invention is based on the recognition that the funnel-shaped design of the insertion / extraction means also achieves passive guidance of the underwater vehicle both during deployment and during recovery, which avoids damage to the entry or exit area of a salvage pipe. In particular, when "threading" an underwater vehicle into the insertion / extraction means, there is a certain degree of fault tolerance in the case of the underwater vehicle with respect to the optimal alignment with the device due to the funnel shape.

The invention is further based on the consideration that when using a submarine as underwater recovery vehicle in the always flooded with water area between the pressure hull and outer shell of the submarine to a tilting of an underwater vehicle during its entry or exit of a Salvage serving torpedo tube can come because this area is at most traversed by support struts between the pressure hull and the outer shell. However, by the movable tube of the device through which the underwater vehicle pass or in which the underwater vehicle can be stored, a guide aid is provided, which prevents such tilting or even in the worst case, a falling of the underwater vehicle into this area by this Area is covered by appropriate method of the device through the tube. In this way, it can be ensured that, for example, when the underwater vehicle is exposed by the device, the stern or the rear region of the underwater vehicle is in the final phase in the open water area outside the outer shell of the underwater recovery vehicle and not in the water flooded area between pressure body and outer shell.

With the device with its substantially tubular configuration so underwater recovery vehicles that have a salvage pipe can be fitted in retrospect in a simple manner, without costly or complex change measures on underwater recovery vehicle or on salvage pipe are required. The device can easily be in a recovery tube be inserted. In addition, this device makes it possible for underwater vehicles to be autonomously exposed and salvaged without requiring the assistance of an operator on board the submersible. An autonomous docking of an underwater vehicle to such a device is feasible.

Conveniently, the tube of the device is formed of a plurality of tube sections which are telescopically telescoping and telescoping. In the pipe sections may be pipe sections with different outer or inner diameters, which are interconnected such that in the telescoped state, the pipe section with the smallest outer diameter is inside and surrounded by the pipe sections with a larger inner diameter. This allows the tube in a simple manner to change its length by the tube sections are telescoped apart. For example, the length of the pipe can be adapted to the length of a submersible to be sheltered, so that an underwater vehicle located inside the pipe is protected against damage from the outside through the pipe over its entire length. In addition, the length of the tube after completion of a salvage operation can then be e.g. be reduced again so that the tube can be stored in a torpedo tube of a submarine behind a pressure bulkhead. Then, when an underwater vehicle is to be re-exposed, the pressure bulkhead can be opened and the tube can be pushed apart until it extends to an orifice flap located in the outer shell of a submarine.

Cleverly, the insertion / extraction means of the device is designed such that it has on the side facing away from the tube in the extended state, a larger circumference than the tube and in the retracted state of a tube corresponding or smaller circumference. With this configuration, it is possible that an underwater vehicle easily pass the input / extraction means by adjusting its size and can be stored in the tube. This embodiment also makes it possible for the device to be stored or stowed completely inclusive of the insertion / extraction means within a recovery pipe, whereby a signature change of a underwater recovery vehicle optimized with regard to its signature by appropriate shaping is prevented. In addition, the insertion / extraction means provides a certain force on a stored in the tube underwater vehicle when its circumference in the retracted state smaller than the tube and in particular smaller than the maximum circumference of the Underwater vehicle that holds back the underwater vehicle in the area of the tube and thus prevents accidental loss of the underwater vehicle.

Conveniently, the insertion / extraction means is designed such that its opening located on the side facing away from the tube increases during the extension and reduced during retraction. As a result, it is possible for an underwater vehicle entering the funnel of the extended insertion / extraction means to be firmly enclosed by the insertion / extraction means along its circumference, ie the function of a pair of pliers by the insertion / extraction means on the underwater vehicle exercisable. By subsequently moving the tube in the direction of the interior of the underwater recovery vehicle, a secure transport of the underwater vehicle into the recovery pipe is possible, without damaging the underwater vehicle due to collisions of the underwater recovery vehicle or the recovery pipe itself. On the other hand, before the underwater vehicle is deployed, the underwater vehicle may initially be firmly enclosed by the infeed / outfeed means and then released from its "clasp" as soon as at least the infeed / outfeed means is outside the outer hull of the underwater vehicle.

In a preferred embodiment of the invention, the insertion / extraction means is provided with one or more insertion means. In the present case, an introduction means are understood as meaningful means, so-called "homing devices". It is understood that underwater vehicles entrusted with a mission generally have reconnaissance means in the form of electromagnetic radiation detection devices, acoustic signals, etc., such as sonar devices, cameras for different spectral ranges, radar devices. On the basis of the insertion means, an underwater vehicle, which has corresponding detection devices responding to the insertion means or means, can align itself more accurately with the funnel of the insertion / extraction means in accordance with the detected signal of the insertion means. Thus, a risk of damage during the salvage operation on the underwater vehicle can be kept low.

It is particularly clever, if not only one, but several Einweisungsmittel be used. This will ensure that aligning the Underwater vehicle on the input / extract means is still possible if one of the Einweisungsmittel should fail. In addition, it is more ensured by the use of multiple insertion means that - depending on the direction from which an underwater vehicle approaches a recovery pipe - the underwater vehicle can detect a signal of an insertion means.

Preferably, the one or more introduction means are acoustic, optical and / or magnetic insertion means. An acoustic insertion means may, for example, be a so-called "pinger". Pinger are acoustic signaling devices. Since underwater vehicles for reconnaissance purposes usually have a sonar device for locating and surveying, they can locate the pinger and make a fine alignment of their position with respect to the input / extraction means. By means of a pinger, it is also possible that an underwater vehicle can align itself very early on the input / extraction means, since its signal can be perceived at a great distance, for example in the range of 100 m, by a equipped with a sonar unit underwater vehicle. An optical insertion means may, for example, be a laser, in particular a green laser. A green laser has the advantage that its spectral line in the water has the greatest range - even in murky water ranges in the range of more than 10 m can be reached. Since laser radiation can be detected very precisely with the appropriate equipment of an underwater vehicle with an adequate optical detector, a particularly exact alignment of the underwater vehicle on the input / extraction means can be made about it. Depending on the position of the incident on the radiation-sensitive surface of a detector spot of the laser, the storage of the underwater vehicle with respect to the position of the starting point of the laser radiation, ie the Einweisungsmittels be determined and corrected by means of appropriate electronics. A magnetic insertion means may, for example, be current-carrying coils which induce magnetic induction in dedicated coils mounted in the underwater vehicle. In addition, an orientation of the underwater vehicle on the input / extraction means can also be made.

Of course, it is conceivable that different types of introduction means may be used in combination, such as a combination of optical, acoustic and magnetic imaging means. This can It is also possible to ensure that different types of underwater vehicles, which for example can only detect and evaluate signals of an optical, acoustic or magnetic insertion means and not all three different signals, have the possibility of correcting their position by means of a signal originating from a specific type of insertion means can.

It is advantageous if the or the insertion means are arranged on the side facing away from the tube edge of the input / extraction means. As a result, it can be achieved that with the extended state of the insertion / extraction means and activated Einweisungsmittel an orientation of the underwater vehicle on the input / extraction means, in which the underwater vehicle is still at a certain "safety distance" from a Unterwasserbergungsfahrzeug, creating a collision with the outer shell of the underwater recovery vehicle or with the input / extraction means is avoidable. In addition, by this arrangement at the edge of the underwater vehicle, a spatial reference to the area of the opening of the funnel-shaped input / extraction means can be taught.

It is particularly advantageous if the insertion means are arranged at mutually equidistant intervals on the edge of the insertion / extraction means facing away from the tube. This makes it possible for the underwater vehicle to be able to align itself particularly precisely with the insertion / extraction means, because the submarine vehicle, via its corresponding detection devices, has an impression of the spatial orientation and the size of the opening of the insertion / extraction means and via its corresponding detection devices determine his own situation in this regard.

Preferably, the tube has a length of more than three meters. Since the distance between the outer shell and pressure hull of today used as Unterwasserbergungsfahrzeugen submarines is usually three meters, by a tube with a length of more than three meters, this gap can be completely bridged by the tube by the tube, for example by methods in this space is introduced. The tube through which the underwater vehicle can pass or be stored in will thus provide protection against the underwater vehicle becoming damaged during its operation Suspension or its salvage in this space tilted or even falls into this space.

Conveniently, the tube is made of carbon fiber reinforced plastic. Carbon fiber reinforced plastic has the advantage that it has a lower weight compared to metallic materials. By using this plastic, the weight load of an underwater recovery vehicle can be kept low. This is particularly important, for example, for submarines as underwater recovery vehicles, because there must be paid to a low weight load, so as not to affect the maneuverability of the submarine. Of course, the use of other, lighter weight composite materials as a material for the tube is conceivable.

It is also clever, if the tube is made of an amagnetic material. Non-magnetic materials have the advantage that they can not be localized by magnetic fields. As a result, protection against magnetic sensors, such as mines, can be realized. A location of the device by, for example, hostile U-boats by means of a magnetic field is thus not possible.

Conveniently, the insertion / extraction means via articulated struts to a funnel-shaped basket extendable. Due to the strut construction, the material requirement and thus the weight load of an underwater recovery vehicle can be kept low by the device. About the joints can be an entry or Auszugsmöglichkeit of the input / extraction means in the manner of an umbrella reach, whereby a particularly good stowage of the input / extraction means can be achieved within a salvage pipe. Furthermore, the effect of the insertion / extraction means in the manner of a pair of pliers can be implemented particularly well by the strut construction.

Conveniently, the struts are connected at their side facing away from the tube via joints with other, mutually connected by joints struts, which form the edge of the basket with extended insertion / extraction means. As already stated above, can be kept low by the strut construction, the material requirements and thus the weight load of a Unterwasserbergungsfahrzeugs by the device. On the other hand, a good stowage of the input / extraction means is achieved via the joints. In addition, the struts can be used to be populated with the or the Einweisungsmitteln. The electrical leads too the instruction means may, for example, be guided along or within the struts.

1. a) Verfahren der Röhre der Vorrichtung in Richtung Freiwasser und Ausfahren des Ein-/Auszugsmittels derart, dass sich zumindest das Ein-/Auszugsmittel außerhalb einer Außenhülle des Unterwasserbergungsfahrzeugs befindet,
2. b) nachdem sich das Unterwasserfahrzeug zumindest teilweise innerhalb des Trichters des Ein-/Auszugsmittels befindet, Einfahren des Ein-/Auszugsmittels soweit, bis der auf der der Röhre abgewandten Seite befindliche Rand des Ein-/Auszugsmittels den Umfang des Unterwasserfahrzeugs derart umschließt, dass das Unterwasserfahrzeug durch Verfahren der Röhre in das Bergungsrohr einziehbar ist und
3. c) Einziehen des Unterwasserfahrzeugs in das Bergungsrohr hinein durch Verfahren der Röhre in Richtung Innenraum des Unterwasserbergungsfahrzeugs.

The object directed to the method for recovering an underwater vehicle with a previously mentioned device, which is introduced into a recovery pipe of a submersible recovery vehicle, is achieved by a method having the following method steps:

1. a) moving the tube of the device in the direction of open water and extending the insertion / extraction means such that at least the insertion / extraction means is located outside an outer shell of the underwater recovery vehicle,
2. b) after the underwater vehicle is at least partially within the funnel of the insertion / extraction means, retraction of the insertion / extraction means until the edge of the insertion / extraction means located on the side facing away from the tube encloses the circumference of the underwater vehicle in such a way that Underwater vehicle by method of the tube in the recovery tube is retractable and
3. c) pulling the underwater vehicle into the recovery tube by moving the tube towards the interior of the underwater recovery vehicle.

Under open water is understood in the present case, the area outside a Unterwasserbergungsfahrzeugs.

The invention is based on the recognition that by the method of the tube according to method step a) a complete extension of the insertion / extraction means is possible, d. H. the funnel can unfold or open to its full size. This makes it easier to "thread" an underwater vehicle into the device since the underwater vehicle is guided through its funnel shape as soon as it reaches the opening region of the intake / extraction means. It makes sense to drive an underwater vehicle in such a salvage operation with his "head piece" ahead into the funnel.

Furthermore, the invention is based on the recognition that enclosing the underwater vehicle, after it has at least partially retracted into the hopper of the input / extraction means, by the insertion / extraction means an accidental Loss of the underwater vehicle prevents and makes it possible to turn off the drive of the underwater vehicle already in this process status. In addition, a further alignment by the underwater vehicle to the recovery pipe is no longer necessary. Cleverly, the underwater vehicle is enclosed in its front area by the input / extraction means to avoid as early as possible possible damage to the underwater vehicle by any subsequent collision with the insertion / extraction means or the tube. The drive of the underwater vehicle can then be switched on again when the underwater vehicle is to be introduced further into the region of the tube for, for example, storage purposes and has been released again by the insertion / extraction means.

With this method, an underwater vehicle can thus be safely and without damage salvaged, since collisions with salvage or outer shell of the underwater recovery vehicle can be excluded. In addition, an autonomous salvage is feasible, an operator who performs manual steps or must supervise the salvage operation is not required.

Conveniently, before the process step b) nor the process step

Activation of the or the Einweisungsmittel

executed. This makes it possible that not only a passive guidance of the underwater vehicle into the device via the insertion / extraction means in the form of a funnel, but also an active guidance by alignment by the underwater vehicle itself to the device is possible by this the signals of or the insertion means detects and aligns accordingly.

1. a) Umschließen des Umfangs des Unterwasserfahrzeugs durch das Ein-/Auszugsmittel,
2. b) Verfahren der Röhre zusammen mit dem Unterwasserfahrzeug in Richtung Freiwasser derart, dass sich zumindest das Ein-/Auszugsmittel außerhalb einer Außenhülle des Unterwasserbergungsfahrzeugs befindet und
3. c) Öffnen des Ein-/Auszugsmittels durch weiteres Ausfahren des Ein-/Auszugsmittels soweit, bis das Unterwasserfahrzeug nicht mehr durch das Ein-/Auszugsmittel umschlossen ist.

The problem addressed by a method for suspending an underwater vehicle with a previously mentioned device, which is incorporated in a recovery pipe of a submersible recovery vehicle, is achieved by the following method steps:

1. a) enclosing the circumference of the underwater vehicle by the insertion / extraction means,
2. b) moving the tube together with the underwater vehicle in the direction of open water such that at least the insertion / extraction means is outside an outer shell of the underwater recovery vehicle and
3. c) opening the insertion / extraction means by further extension of the insertion / extraction means until the underwater vehicle is no longer enclosed by the input / extraction means.

The invention is based on the recognition that by enclosing the circumference of the underwater vehicle according to method step a) and method of the tube together with the underwater vehicle according to method step b) a targeted exposure of an underwater vehicle is possible, the damage to the underwater vehicle within the recovery tube and any loss prevented the same. Furthermore, the invention is based on the recognition that opening the input / extraction means according to method step c) also ensures a certain passive guidance of the underwater vehicle when leaving the device through its funnel shape. A underwater vehicle salvaged in accordance with the recovery method described above would thus move backwards out of the device when carrying out the method of suspension just described, that is, with the tail in front. Before the underwater vehicle can be enclosed by the insertion / extraction means according to method step a), it must of course reach the interior of the same. This can realize the underwater vehicle, for example, even on its own drive.

1. a) Anfahren zwischen Unterwasserfahrzeug und Unterwasserbergungsfahrzeug vereinbarter Treffpunkt-Koordinaten durch das Unterwasserfahrzeug,
2. b) Durchführung eines Kennungsaustauschs des Unterwasserfahrzeugs mit dem Unterwasserbergungsfahrzeug,
3. c) Anfahren auf das Bergungsrohr bei erfolgreichem Kennungsaustausch und
4. d) zumindest teilweises Einfahren des Unterwasserfahrzeugs in den Trichter des ausgefahrenen Ein-/Auszugsmittels der Vorrichtung hinein.

The object directed to a method for docking an underwater vehicle to a previously described device which is introduced into a recovery pipe of a marine recovery vehicle is achieved by the following method steps:

1. a) Approaching between underwater vehicle and underwater recovery vehicle of agreed rendezvous coordinates by the underwater vehicle,
2. b) performing an identification exchange of the underwater vehicle with the underwater recovery vehicle,
3. c) Approaching the recovery pipe upon successful identification exchange and
4. d) at least partially retracting the underwater vehicle into the funnel of the extended insertion / extraction means of the device.

The invention is based on the consideration that an underwater vehicle and an underwater recovery vehicle often pursue different missions in different locations. For this reason, it makes sense for an underwater vehicle to be retrieved to arrive at a rendezvous coordinate agreed upon with an underwater recovery vehicle upon successful completion of its mission. These rendezvous coordinates may be coordinates already agreed with the underwater recovery vehicle prior to the launch of the submersible or agreed with the underwater recovery vehicle during the mission of the submersible. An exchange of such data between underwater vehicle and underwater recovery vehicle, for example, via a data link in the form of an optical fiber or fiber optic cable, remain connected to the underwater vehicle and underwater recovery vehicle during their missions, take place. It can e.g. a two-sided data transmission via fiber optic cable are carried out for this purpose. Due to the real-time data transmission thus a "man-in-the-loop" concept is feasible, which allows an operator on board the underwater recovery vehicle, for example, in imminent danger to the underwater vehicle to change its mission in the short term or even abort by appropriate commands on the Fiber optic cable are transmitted. In addition, it may make sense that not only meeting point coordinates, but also a time at which such a meeting should take place are agreed in the same way. This can be avoided, for example, long waiting or dead times for underwater recovery vehicle and underwater vehicle arise.

Furthermore, the invention is based on the consideration that underwater not only the salvage recovery vehicle provided may be located, but also, for example, enemy underwater recovery vehicles may be traveling whose intention is to destroy the underwater vehicle or to use for their own purposes. For this reason, it makes sense for the underwater vehicle to perform an identification exchange with the underwater recovery vehicle to identify if it is the "right", friendly-minded underwater recovery vehicle.

With the present method, it is possible for an underwater vehicle to autonomously approach and retrieve an underwater recovery vehicle or salvage retrieval vehicle without the need for further intervention by an operator aboard an underwater recovery vehicle. To accommodate the underwater vehicle in the recovery pipe of a underwater recovery vehicle, a so-called rendezvous takes place between underwater vehicle and underwater recovery vehicle. The underwater vehicle is in the run-up to the expectation space for the rendez-vous. The underwater recovery vehicle, at the same time, enters the agreed-upon position, the meeting point coordinates, at a fixed heading, where the underwater recovery vehicle takes a horizontal, minimum ride straight ahead and virtually floats a certain amount of time. This "floating" has the advantage that the insertion / extraction means does not change the position of his funnel, so there is no rotation of the funnel and the underwater vehicle "sees" almost a fixed funnel. The underwater vehicle counteracts the underwater recovery vehicle and starts autonomous docking with the device installed in the recovery pipe of the underwater recovery vehicle.

Appropriately, before the aforementioned process step a) nor the process step

Determining a current position of the underwater vehicle via a GPS receiver located in the underwater vehicle

carried out. Underwater recovery vehicles - such as a submarine - generally have a very good navigation system, ie. Approaching agreed meeting point coordinates is very possible. However, as underwater vehicles often have to make sure that they are not too heavy in weight and do not exceed certain dimensions, these are usually not equipped with a similarly good navigation system, but usually have only inertial sensors to determine their own position. Higher-quality underwater vehicles can also have an echo sounder in the form of a Doppler Velocity Log and / or a TERCOM system ("terrain contour matching" system) to increase the accuracy of their own position determination. However, since underwater vehicles often have a GPS receiver, it may make sense for an underwater vehicle to before it contacts agreed rendezvous coordinates - gets a position update about its current position via its GPS receiver. For this, the underwater vehicle must emerge. Then, due to his now-accurate knowledge of his current position, he can approach the agreed meeting point coordinates with greater accuracy. This can avoid that underwater recovery vehicle and underwater vehicle wait in vain for each other at different places in the worst case.

It is particularly useful if, before the aforementioned method step b), the method step

Approach of the underwater vehicle to the underwater recovery vehicle on the broadside

is performed. An approach from the broadside makes it possible for both the underwater vehicle and the underwater recovery vehicle to be able to orient themselves to a respectively detected signature, whether it is "enemy" or "friend". Both underwater vehicles and underwater recovery vehicles usually have sonar systems that allow such a signature to be detected. Since, when approaching from the broadside, the detectable outline is larger by means of a sonar system, it can be more clearly decided whether it is "friend" or "enemy". Only if "friend" is recognized, it is meaningful to continue the procedure. Otherwise, an underwater vehicle will no longer initiate the further process steps.

1. a) Detektion des Einweisungsmittels durch das Unterwasserfahrzeug und
2. b) Ausrichtung des Unterwasserfahrzeugs nach Maßgabe des detektierten Einweisungsmittels

Cleverly, before the aforementioned process step d) nor the process steps

1. a) detection of the introduction means by the underwater vehicle and
2. b) alignment of the underwater vehicle in accordance with the detected insertion means

executed. As a result, the underwater vehicle can correct its position with respect to the insertion and extraction means, in order to avoid any damage during the final phase of the docking operation - for example, caused by collision with the outer edges of the insertion / extraction means or the outer shell of the Underwater recovery vehicle. About his detection and evaluation device for the Einweisungsmittel, for example in the form of an optical seeker head, then steers the underwater vehicle autonomously into the funnel-shaped insertion / extraction means and can then be recovered from this.

drawing

Further advantages emerge from the following description of the drawing. In the drawings, embodiments of the invention are shown. The drawing, the description and the claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into meaningful further combinations.

Fig. 1

schematisch einen Schnitt durch eine in ein Unterwasserbergungsfahrzeug eingebrachte Vorrichtung zur Aussetzung und Bergung eines Unterwasserfahrzeugs,

Fig. 2

ein in einem Bergungsrohr gelagerte Vorrichtung und ein darin befindliches Unterwasserfahrzeug und

Fig. 3

schematisch die Phasen einer Mission eines Unterwasserfahrzeugs von Aussetzung über Andockung bis zur Bergung desselbigen.

Show it

Fig. 1

1 is a schematic view of a device for suspending and recovering an underwater vehicle introduced into a submersible vehicle;

Fig. 2

a mounted in a salvage pipe device and an underwater vehicle therein and

Fig. 3

schematically the phases of a mission of an underwater vehicle from suspension over docking to salvage them.

The same parts are provided with the same reference numerals.

FIG. 1 1 schematically shows a section through a device 2, which is introduced into a recovery tube, in this case into a torpedo tube 4, of an underwater recovery vehicle, in the present case a submarine 6. The device 2 comprises a movable tube 8, which is composed of telescopically displaceable pipe sections in the form of pipe sections 10, 12. The tube 8 is made of carbon fiber reinforced plastic. The pipe section 10 of the tube 8 has a length of about 6 meters, so the length of a torpedo tube customary today. The pipe section 12 has a length of over 3 meters, so that so that always flooded with water space 16 between the pressure body 18 and Outer shell 20 of a typical submarine 6 for guiding an underwater vehicle 26 can be bridged. At the free water area 24 facing the end of the tube 8, a pull-in / extract means 28 in the form of a funnel-shaped in the extended state basket 30 is attached. Both the tube 8 and the pipe sections 10, 12 and the insertion / extraction means 28 are movable via not shown drives or retracted / extended. In the present case, spindle drives with a linkage are used. The basket 30 is formed by means of hinges 32 provided with struts 34. This makes it possible to reduce or enlarge the opening 35 of the input / extraction means 28 in the manner of an umbrella. The struts 34 in turn are connected to other, connected by joints 36 struts 38. About the struts 38, an edge 40 is formed on which four insertion means 42 are arranged. The insertion means 42, which in the present case are pinger, acoustic signal, are, as FIG. 1 can be clearly seen, evenly spaced over the edge 40 away. In the open water area 24 opposite the insertion / extraction means, the underwater vehicle to be sheltered is in the form of a so-called AUV - "autonomous underwater vehicle" 26. The underwater vehicle 26 is equipped with a GPS receiver 44. About this GPS receiver 44 has the underwater vehicle 26 before it has approached with the submarine 6 agreed meeting point coordinates, a position update its current position by it has emerged on the water surface, overtaken to the meeting point coordinates as possible to be able to approach exactly. In order to carry out a successful identification exchange with the submarine 6, the underwater vehicle 26 has approached the submarine 6 from the broadside. Since the identification exchange was successful, the tube 8 was moved to salvage the underwater vehicle so that the basket 30 in the open water area 24 could fully unfold. In addition, the insertion means 42 were activated. The underwater vehicle 26 is further equipped with a sonar device 46 detection device for evaluating the pinger signals. As a result, the underwater vehicle can then align more precisely with the center of the opening 35 of the insertion / extraction means 28 and then retract into the basket 30 in the direction of the arrow 48. Once the underwater vehicle 26 is at least partially within the basket 30, this is pulled together and encloses with its edge 40, the underwater vehicle 26 in the manner of a pair of pliers. Now the already partially retracted basket 30 is drawn with the "trapped" underwater vehicle 26 in the torpedo tube 4 by the pipe section 12 is moved into the pipe section 10 into it. Subsequently, the basket 30 is opened a little, so that the Underwater vehicle can fully enter with his head first in the tube 8.

FIG. 2 shows now in a designed as a torpedo tube 4 and simplified illustrated rescue tube mounted device 2 and an underwater vehicle 26 therein FIG. 2 represents the final scenario of a successfully completed salvage operation of the underwater vehicle 26 by the in FIG. 1 The underwater vehicle 26 is already located completely within the torpedo tube 4. It has successfully passed through the space 8, which is always flooded with water, through the tube 8. The provided in the outer shell 20 of the submarine 6 muzzle flap 50 is already closed, as is the pressure bulkhead 52 in the region of the pressure hull that seals the torpedo tube 4. Again FIG. 2 can be removed, the device 2 has been stowed away to save space: The insertion / extraction means 28 has been retracted in the form of a tube so that it is easily stowed behind the stern of the underwater vehicle 26. FIG. 2 also shows that the underwater vehicle 26 is connected via an optical waveguide in the form of a glass fiber 54 to the submarine. The data exchange between the submarine 6 and the underwater vehicle 26 is made via the optical fiber 54, such as the exchange of identifiers, the agreement of meeting point coordinates or the transmission of the underwater vehicle 26 during its mission collected data. In order for such data exchange to be carried out over long distances, a plurality of glass fiber spools 56, 58 and a winch 60 are provided. The fiber optic coil 56 is located in the wet fuselage section of the underwater vehicle 26. The fiber optic coil 58 stored in the torpedo tube 4 is entrained upon deployment of the submersible 26 and at the beginning of its mission, and serves as a sort of extension cable when the submersible 26 is extended Covers distances. About the torpedo 4 located in the winch 60, a trailing cable 62, which is a hose in which a glass fiber is guided and which has a length between 20 and 30 m, after the mission of the underwater vehicle 26 can be obtained again. The glass fiber spool 58 itself is not retrieved at the end of the mission and also the glass fiber 54 unwound from the glass fiber spool 56 is cut off by means of a blade located in the region of the glass fiber spool 56 and is not reused. Before a new mission, the fiber optic coil 56 is renewed and a new fiber optic coil 58 is inserted into the torpedo tube 4. About the in FIG. 2 shown, stored in the torpedo tube 4 device 2, the underwater vehicle 26 mounted therein can be exposed in such a way by the pressure bulkhead 52 and the mouth flap 50 are opened. In addition, the underwater vehicle 26 partially moves into the insertion / extraction means 28 and is firmly enclosed by its edge 40 along its circumference. Now, the pipe section 12 and thus also the insertion / extraction means 28 and the underwater vehicle 26 is telescopically moved so that the input / extraction means outside the outer shell 20 of the submarine 6 can open so far that the underwater vehicle 26 from the basket 30 can go out. Then, the underwater vehicle 26 leaves the funnel-shaped portion of the basket 30 by backing out of it.

FIG. 3 schematically shows the temporal phases of a mission of a submersible 26 from its suspension through its docking until its salvage. The provided on a submarine 6 device 2 is only simplified with tube 8 and input / extraction means 28 and basket 30 indicated. At time t ₀ , the underwater vehicle 26 is exposed via the device 2 as described above. In the present case it is shown how the insertion / extraction means 28 has already opened again so far that the underwater vehicle 26 can drive backwards out of this. During the times t ₁ , t ₂ , t _{3 of} his mission, the underwater vehicle 26 transmits, for example, data collected by him via his data link in the form of the optical fiber 54 and by means of a modem to the submarine 6, receives modified mission data - such. B. changed meeting point coordinates - from the submarine 6 or gets over his GPS receiver 44, a position update with respect to its current position. At time t ₄ , the underwater vehicle 26 has already approached agreed with the submarine 6 meeting point coordinates and approached him from the broadside to determine the basis of the signature of the submarine 6, whether it is the submarine 6 with which it is to be recovered. It now performs an identifier exchange to be able to clearly identify whether it is the "right" submarine 6. If this is successfully verified by the underwater vehicle 26, it starts its docking operation to the device 2, which was brought by the submarine 6 in the position required for salvage, if this in turn has performed the identification exchange successfully. At time t ₅ , the underwater vehicle 26 has already partially retracted into the basket 30 and is now recovered by the device 2 as described above.

LIST OF REFERENCE NUMBERS

2

contraption

4

torpedo tube

6

Submarine

8th

tube

10

pipe section

12

pipe section

16

flooded space with water

18

pressure vessels

20

outer shell

24

Open water area

26

Underwater vehicle

28

-In / extraction means

30

basket

32

joint

34

strut

35

opening

36

joint

38

strut

40

edge

42

instruction means

44

GPS receiver

46

detection device

48

arrow

50

mouth flap

52

pressure bulkhead

54

optical fiber

56

fiber optic coil

58

fiber optic coil

60

winch

62

trailing cable

Claims (16)

Device (2) for suspending and retrieving an underwater vehicle (26) which can be introduced into a recovery pipe (4) of a submersible recovery vehicle (6), the device (2) comprising a movable tube (8) having at one of its ends Inserting / extracting means (28, 30) is provided, which in the retracted state, the shape of a tube or a ring and in an extended state has the shape of a funnel. Device (2) according to claim 1, wherein the tube (8) is formed from a plurality of tube sections (10, 12) telescopically telescoping and telescoping. Device (2) according to one of the preceding claims, wherein the insertion / extraction means (28, 30) is designed such that it on the tube (8) facing away from the side in the extended state, a larger circumference than the tube (8) and in retracted state has one of the tube (8) corresponding or smaller circumference. Apparatus (2) according to claim 3, wherein the insertion / extraction means (28, 30) is formed such that its on the tube (8) facing away from the opening (35) increases during the extension and reduced during the retraction. Device (2) according to one of the preceding claims, wherein the insertion / extraction means (28, 30) is provided with one or more insertion means (42), which are preferably acoustic, optical and / or magnetic insertion means (42 ). Apparatus according to claim 5, wherein the one or more insertion means (42) on the side facing away from the tube (8) edge (40) of the insertion / extraction means (28, 30), preferably in mutually equidistant intervals, are arranged. Device (2) according to one of the preceding claims, wherein the tube (8) has a length of more than 3 m and / or is made of carbon fiber reinforced plastic. Device (2) according to one of the preceding claims, wherein the insertion / extraction means (28, 30) via joints (32) provided with struts (34) to a funnel-shaped basket (30) is extendable. Device (2) according to claim 8, wherein the struts (34) are connected at their side facing away from the tube (8) via joints (36) with further struts (38) connected to one another via joints (36). / Extracting means (28, 30) form the edge (40) of the basket (30). Method for recovering an underwater vehicle (26) with a device (2) according to one of claims 1 to 9, which is introduced into a recovery pipe (4) of a marine recovery vehicle (6), comprising the method steps a. Method of the tube (8) in the direction of open water and extension of the insertion / extraction means (28, 30) such that at least the insertion / extraction means (28, 30) outside an outer shell (20) of the underwater recovery vehicle (6), b. after the underwater vehicle (26) is located at least partially inside the funnel of the insertion / extraction means (28, 30) retraction of the insertion / extraction means (28, 30) until the edge located on the side facing away from the tube (8) (40) of the insertion / extraction means (28, 30) surrounds the circumference of the underwater vehicle (26) such that the underwater vehicle (26) by retraction of the tube (8) in the recovery pipe (4) is retractable, and c. Pulling the underwater vehicle (26) into the recovery pipe (4) by moving the tube (8) towards the interior of the underwater recovery vehicle (6). The method of claim 10, wherein prior to step b) nor the process step
Activation of the or the insertion means (42) is performed. Method for suspending an underwater vehicle (26) with a device (2) according to one of claims 1 to 9, which is introduced into a recovery pipe (4) of a submersible recovery vehicle (6), comprising the method steps a. Enclosing the circumference of the underwater vehicle (26) by the insertion / extraction means (28, 30), b. Moving the tube (8) together with the underwater vehicle (26) in the direction of open water such that the insertion / extraction means (28, 30) outside of an outer shell (20) of the underwater recovery vehicle (6) is located and c. Opening the insertion / extraction means (28, 30) by further extension of the insertion / extraction means (28, 30) until the underwater vehicle (26) is no longer enclosed by the insertion / extraction means (28, 30). Method for docking an underwater vehicle (26) to a device (2) according to one of claims 1 to 9, which is introduced into a recovery pipe (4) of a submersible recovery vehicle (6), comprising the method steps a. Approach between underwater vehicle (26) and underwater recovery vehicle (6) of agreed rendezvous coordinates by the underwater vehicle (26), b. Carrying out an identification exchange of the underwater vehicle (26) with the underwater recovery vehicle (6), c. Approaching the recovery pipe (4) on successful identification exchange and d. at least partially retracting the underwater vehicle (26) into the funnel of the extended infeed / outfeed means (28, 30) of the device (2). The method of claim 13, wherein before the process step a nor the process step
Determining a current position of the underwater vehicle (26) via
a GPS receiver (44) located in the underwater vehicle (26) is executed. The method of claim 13 or 14, wherein before the method step b of claim 13 nor the process step
Approach of the underwater vehicle (26) to the
Underwater recovery vehicle (6) is carried out on the broadside. Method according to one of claims 13 to 15, wherein before the method step d of claim 13 nor the method steps a. Detection of the insertion or the means (42) by the underwater vehicle (26) and b. Orientation of the underwater vehicle (26) in accordance with the detection means or means (42) detected
be executed.

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