EP2471707A2 - Tête d'accouplement, dispositif d'accouplement équipé d'une tête d'accouplement, tête de rendez-vous pouvant y être raccordée, dispositif de rendez-vous doté d'une tête de rendez-vous, véhicule submersible en étant équipé, système d'accouplement, procédé d'accouplement et procédé d'utilisation d'un véhicule submersible - Google Patents

Tête d'accouplement, dispositif d'accouplement équipé d'une tête d'accouplement, tête de rendez-vous pouvant y être raccordée, dispositif de rendez-vous doté d'une tête de rendez-vous, véhicule submersible en étant équipé, système d'accouplement, procédé d'accouplement et procédé d'utilisation d'un véhicule submersible Download PDF

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Publication number
EP2471707A2
EP2471707A2 EP11195753A EP11195753A EP2471707A2 EP 2471707 A2 EP2471707 A2 EP 2471707A2 EP 11195753 A EP11195753 A EP 11195753A EP 11195753 A EP11195753 A EP 11195753A EP 2471707 A2 EP2471707 A2 EP 2471707A2
Authority
EP
European Patent Office
Prior art keywords
coupling
head
coupling head
rendezvous
underwater vehicle
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.)
Withdrawn
Application number
EP11195753A
Other languages
German (de)
English (en)
Other versions
EP2471707A3 (fr
Inventor
Dipl.-Ing. Jörg Kalwa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Publication of EP2471707A2 publication Critical patent/EP2471707A2/fr
Publication of EP2471707A3 publication Critical patent/EP2471707A3/fr
Withdrawn legal-status Critical Current

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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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • the invention relates to a coupling head to which an autonomous underwater vehicle can be coupled by means of a rendezvous head.
  • the rendezvous head is attached to the underwater vehicle or part of the underwater vehicle.
  • the coupling head is, for example, attached to a water-side end of a cable designed as a mountain cable. Mountain cables are traditionally attached to a base ship on their other side. On this base ship usually a Bergewinde is arranged, from which the mountain cable unrolled and on which the mountain cable can be rolled up again.
  • the invention further relates to a coupling device comprising the coupling head and a cable. Furthermore, the invention relates to the rendezvous head for an autonomous underwater vehicle. In addition, the invention relates to a Rendezvous adopted with this Rendezvouskopf. Furthermore, the invention relates to an underwater vehicle with the rendezvous head and / or with the Rendezvous Anlagen. Furthermore, the invention relates to a coupling system with the coupling head and the Rendezvouskopf. Furthermore, the invention relates to a coupling method for coupling a coupling head to a rendezvous head and a deployment method of an autonomous underwater vehicle with the coupling method.
  • An autonomous underwater vehicle should operate autonomously in the water of a body of water, such as a sea or inland waterway, and therefore typically has no wired connection to a base vessel while performing a mission in the water. Therefore, it is difficult to recover after completing the mission.
  • the underwater vehicle is allowed to float to the surface after use. For recovery, the mountain cable with the hook in the area of Lowered down the surface of the water and manually attached, for example, by the crew of a small boat to the water from the basestar to the submersible. Only then can the underwater vehicle be pulled by means of the Bergewinde to the base ship and hoisted on board.
  • This known method for recovering an underwater vehicle is dangerous and also highly weather dependent. Especially in rough seas and poor visibility such as fog, the recovery of an underwater vehicle in this known manner is a dangerous maneuver both for the crew of the boat, the mount cable attached to the underwater vehicle, as well as for the underwater vehicle, in this mountain maneuvers with this boat or even collide with the base ship and it could be damaged.
  • the recovery of the underwater vehicle according to the described method is also time consuming. On the one hand, it takes a certain amount of time to "capture" the underwater vehicle manually and raise it to a resting position on the deck of the base vessel by means of the mountain cable and the Bergewinde, as well as to launch a new mission using the mountain cable. On the other hand, batteries of the underwater vehicle must regularly be exchanged or recharged on board the base vessel. Furthermore, in the rest position, measurement data of the previous mission stored in the underwater vehicle is transferred to storage facilities on the base vessel. Conversely, the underwater vehicle on board the base ship will be provided with new mission data for the upcoming mission. Overall, a lot of time passes between two missions, in which the underwater vehicle can not be used for a mission.
  • the object of the invention is to improve the recovery and / or supply of an autonomous underwater vehicle.
  • the invention achieves this object by automating the coupling process and shifting it into an area below the water surface.
  • the coupling process takes place in a water depth between 10 and 20 meters below the water surface. In this depth, the water is relatively calm, unlike water in the area of the water surface. In particular, the effects of swell in this water depth are negligible.
  • the coupling head according to the invention has position stabilizing means for stabilizing its orientation and position in the water, in particular in the water depth of 10 to 20 meters, below the water surface.
  • a stabilized alignment of the coupling head is to be understood as meaning that essentially no rotations of the coupling head take place or slight twists are reversed.
  • a stabilized position of the coupling head is to be understood as meaning that at least possible movements of the coupling head in the horizontal are essentially uniform and any short-term deviations from a fixed or uniformly moving position are reversed.
  • the position stabilizing means keep the coupling head so calm in the water that it can be advantageously controlled by the underwater vehicle.
  • the position stabilizing means counteract possibly accelerations as well as possibly tilting or rotational movements of the coupling head by the surrounding water.
  • the position stabilizing means thus cause the coupling head to hold an absolute position in the water or to move at least substantially uniformly along a trajectory which is preferably a straight line, but alternatively may also be curved.
  • its position is to be understood as the position of the coupling head.
  • the position stabilizing agents counteract both the rise and fall of the coupling head in the water and thus act as position stabilizing means.
  • the position stabilizing agents ensure that the coupling head substantially maintains its depth in the water or its distance from the water surface.
  • the underwater vehicle can drive a rendezvous position particularly well, in particular below the coupling head, and can subsequently be coupled from below to the coupling head.
  • the coupling head can change its position in the water while maintaining its stabilized orientation and position, namely sinking down to the underwater vehicle.
  • the rendezvous head according to the invention can be coupled or coupled with the coupling head according to the invention.
  • the coupling head and the rendezvous head thus act together such as a plug and a socket.
  • the rendezvous head is particularly designed such that an automatic coupling of the coupling head to the Rendezvouskopf and preferably also an automatic uncoupling of the coupling head of Rendezvouskopf in the water below the water surface, in particular at a depth between 10 and 20 meters below the water surface is possible.
  • the coupling head is stabilized in the water below the water surface in its orientation and position and coupled to the Rendezvouskopf.
  • the coupling head herein is further to be understood to be stabilized in its orientation and position when accelerated towards the rendezvous head or lowered to the rendezvous head and / or when it actively aligns and positions itself over the rendezvous head or a target position driven by the rendezvous head.
  • the position stabilizing means of the coupling head preferably have at least one controllable drive for actively aligning and positioning the coupling head in the water.
  • aligning the coupling head it is to be understood here that tilting or rotation angles of the coupling head are set.
  • the longitudinal, lateral and lateral inclination of the coupling head are adjusted in the water.
  • the coupling head may be aligned and positioned by means of the controllable drive such that the coupling head and the rendezvous head move toward each other for coupling in substantially vertical and / or horizontal directions.
  • the positioning of the coupling head in the water is to be understood as meaning that a position of the coupling head in the water is set.
  • This position may be an absolute position, wherein, for example, a length and a width may be given by absolute coordinates and a depth relative to the seabed or the water surface.
  • the position of the coupling head is indicated relative to a reference position moving along a trajectory.
  • the reference position may, for example, be predetermined by a base ship or an underwater vehicle, in particular a submarine, which travels behind the coupling head by means of a cable or a mountain cable.
  • the drive of the position stabilizing means is preferably realized by a plurality of propellers, which preferably have axes of rotation in several different directions and / or adjustable axes of rotation, in order to allow advantageous maneuverability of the coupling head.
  • the drive drives rudders, such as elevators or ailerons, for example. which in particular allow alignment and positioning of the coupling head in the water when this coupling head is pulled through the water or otherwise moves relative to the surrounding water.
  • the drive has other means that allow alignment and positioning of the coupling head relative to the coupling head surrounding water.
  • the drive is controllable and allows the active alignment and positioning of the coupling head.
  • a control device for controlling the active alignment and positioning of the coupling head in the water is therefore provided on the coupling head or at another point from which control signals or commands to the coupling head can be sent.
  • the depth of the coupling head can advantageously be kept in the water or a desired depth can be controlled. Furthermore, a transverse offset of the coupling head to a direction of movement of the Rendezvouskopfes or the rendezvous head having underwater vehicle can be compensated by means of the controllable drive. Finally, the controllable drive allows a lowering of the coupling head in the direction of the Rendezvouskopfes for docking.
  • At least one drive of the coupling head is controlled, said drive actively aligns and positions the coupling head in the water, in particular relative to a fixed or uniformly moving position.
  • the coupling head and the Rendezvouskopf together preferably have a coupling mechanism by means of which the coupling head and the Rendezvouskopf can be mechanically coupled to each other.
  • This coupling mechanism is preferably formed in two parts, wherein the coupling head has a first part of the coupling mechanism and the Rendezvouskopf a second part of the coupling mechanism.
  • the coupling mechanism produces a non-positive and / or positive connection between the coupling head and the rendezvous head.
  • the coupling head is therefore coupled according to the method by means of the coupling mechanism frictionally and / or positively with the rendezvous head.
  • the first and the second part of the coupling mechanism preferably engage with each other.
  • the coupling head is uncoupled for uncoupling by means of a release mechanism from Rendezvouskopf
  • the release mechanism is advantageously integrated in the coupling mechanism.
  • the release mechanism is preferably formed in two parts.
  • the coupling head has a first part of the release mechanism, whereas the rendezvous head has a second part of the release mechanism.
  • the release mechanism can be triggered preferably both from the coupling head and the rendezvous head.
  • the underwater vehicle can autonomously trigger the release mechanism, for example to start a mission.
  • the release mechanism can be triggered by a device which connects in a signal-connecting manner to the coupling head.
  • the coupling head preferably has a detachably connectable energy transfer interface to the rendezvous head. Via this energy transfer interface, the underwater vehicle can be supplied with electrical energy via the rendezvous head. Batteries of the underwater vehicle can thus be charged as soon as the coupling head and the rendezvous head are coupled together. The underwater vehicle therefore does not have to be lifted out of the water to recharge the batteries, but can remain in the water and, after a short charging time of the batteries, break up comparatively quickly to a new mission.
  • the energy transfer interface is at the same time when establishing the coupling by means of the o.g. Coupling mechanism connected to the rendezvous head.
  • the coupling mechanism establishes the non-positive and / or positive connection between the coupling head and the rendezvous head and at the same time establishes a conductive connection of the energy transfer interface of the coupling head with the rendezvous head or with a corresponding interface on the rendezvous head.
  • the compound is separable and can in particular by means of the o.g. Release mechanism to be solved again.
  • the energy transfer occurs galvanically via the energy transfer interface, i. via one or more galvanic contacts.
  • the energy transfer occurs in a particular embodiment, however, contactless, in particular by induction.
  • the energy transmission interface has inductively operating energy transmission means.
  • the coupling head alternatively or advantageously additionally has a data transmission interface detachably connectable to the rendezvous head.
  • the data transfer interface of the coupling head is detachably connected to the rendezvous head.
  • a data connection which may also be a signal connection, is established between the coupling head and the rendezvous head.
  • data, in particular measurement data from the underwater vehicle can be sent to a device connected to the coupling head in a signal-connecting or data-connecting manner.
  • data, in particular mission data for a new mission can be transmitted via the data transmission interface of the coupling head to the rendezvous head and further to the underwater vehicle.
  • the underwater vehicle can each remain in the water, so that rest periods or downtime can be reduced and the underwater vehicle can break up comparatively quickly back to a new mission.
  • the data transmission via the data transmission interface is galvanic, i. via one or more galvanic contacts.
  • the data transmission takes place in a particular embodiment, however, contactless, in particular via radio or via light waves.
  • the data transmission interface has electromagnetically and / or optically operating data transmission means, for example electromagnetically operating transmitters / receivers and / or optocouplers.
  • the Rendezvous worn invention has the Rendezvouskopf invention.
  • the rendezvous device further comprises an underwater modem having a receiving device for signals or data transmitted by the coupling head and usable as a positioning aid.
  • an absolute or relative position of the coupling head relative to a fixed or moving reference position or relative to a position of the rendezvous head or underwater vehicle with the rendezvous head is received.
  • sensed changes in the position of the coupling head or a distance of the coupling head for example to the rendezvous head or a course of the coupling head are sent from the coupling head and received by the underwater modem.
  • the coupling head communicates with the rendezvous device by means of a communication device of the coupling head, the coupling head transmitting signals which the rendezvous device receives and as positioning aid of the rendezvous head relative to the coupling head and / or for calculating a starting trajectory for driving the underwater vehicle Direction of a rendezvous position used.
  • the rendezvous head approaches the rendezvous position by means of the underwater vehicle controlled by this signal.
  • the rendezvous position is preferably defined during this approach by the respective position of the coupling head.
  • the Rendezvousposition is preferably a position which is defined at a defined distance below the aligned and waiting for the approach of Rendezvouskopfes coupling head.
  • the rendezvous position is one meter below the coupling head. If, on the other hand, the rendezvous device has reached the rendezvous position, the rendezvous position is defined below by the position of the rendezvous head, wherein the coupling head likewise approaches the rendezvous position and can thus subsequently be coupled to the rendezvous head.
  • the rendezvous device preferably has a computing device for calculating the direction and / or distance of the rendezvous head to the coupling head.
  • the rendezvous device has a computing device for calculating the rendezvous position defined by the position of the coupling head.
  • the coupling head according to the invention preferably has said communication device for transmitting signals, which is in particular an acoustic, optical or electromagnetic communication device.
  • signals which is in particular an acoustic, optical or electromagnetic communication device.
  • the rendezvous device preferably has a control device.
  • the control device is designed such that, by means of this control device, a starting trajectory for driving the underwater vehicle in the direction of the rendezvous position can be calculated as a function of the direction and / or distance of the rendezvous head to the coupling head. Furthermore, the underwater vehicle can be controlled to this rendezvous position along this approach trajectory preferably by means of this control device.
  • the coupling head preferably has position detection means. These position detection means are in particular sensors, preferably cameras or a camera and / or light sensors. Alternatively, only one sensor may be present as position detection means.
  • the position detection means By means of the position detection means, the relative position of the Rendezvouskopfes can be detected relative to the coupling head. In one embodiment, the detected relative position is transmitted to the rendezvous device via acoustic and / or optical and / or electromagnetic signals.
  • the coupling head has position correction means by means of which the position or position of the coupling head in the water can be corrected relative to the detected relative position or position of the rendezvous head.
  • position correction means by means of which the position or position of the coupling head in the water can be corrected relative to the detected relative position or position of the rendezvous head.
  • the rendezvous head or the underwater vehicle with the rendezvous head on its way to the rendezvous position laterally deviates from the intended course or drives off laterally after reaching the rendezvous position.
  • Underwater vehicles, in particular when they are moving slowly or not at all can often be moved sideways at most within narrow limits or make a correction of their position to the side. Therefore, it is advantageous if the coupling head recognizes such a lateral drifting and in response thereto adapts its relative position to the rendezvous head, in particular by a position correction transverse to the direction of movement of the rendezvous head.
  • the coupling head thus advantageously recognizes with the position detection means of the coupling head the position or position of the rendezvous head and / or of the underwater vehicle relative to the coupling head.
  • the coupling head advantageously recognizes from this position or position a possible transverse offset of the rendezvous head relative to the starting trajectory of the rendezvous head or of the rendezvous head having underwater vehicle.
  • This startup trajectory is preferably a previously calculated startup trajectory or a startup trajectory, which the rendezvous head or the underwater vehicle has followed with the rendezvous head up to a previous point in time.
  • the coupling head preferably corrects the position or position of the coupling head in the water as a function of a detected position or position and / or a recognized transverse offset of the rendezvous head and / or the underwater vehicle relative to one another by means of position correction means.
  • position correction means In particular, the drive, wherein they cause an active correction of the position of the coupling head.
  • the rendezvous device preferably has an imaging system, such as, for example, a camera system and / or a sonar system, by means of which the position or position of the coupling head can be optically detected relative to the rendezvous head in the vicinity of the coupling head and transmitted to the control device.
  • the proximity of the coupling head is preferably a range of up to about 10 meters from the coupling head.
  • All parts of the rendezvous device, as well as the imaging system, in particular the camera system are arranged either on the coupling head or on the underwater vehicle. In particular, when the rendezvous head or the underwater vehicle and thus also the imaging system, in particular the camera system, is located in this vicinity of the coupling head can advantageously be changed to a precision mode and optically guided the coupling head or the Rendezvousposition be started.
  • the coupling head is supplied with electrical energy via a supply line of a cable which can be permanently or detachably connected to the coupling head, in particular a mountain cable.
  • signals or data are transmitted to and / or from the coupling head via a data line of the cable.
  • electrical energy can thus be supplied to the underwater vehicle by means of the supply line and data exchange through the supply line to and / or from the underwater vehicle take place.
  • the coupling head is recovered by means of the cable and / or left to water, wherein the cable is designed to withstand necessary tensile loads.
  • the invention further relates to a coupling device with the coupling head according to the invention and with the mechanically connected to the coupling head or detachably connectable cable. Furthermore, the invention relates to an underwater vehicle with the Rendezvouskopf invention and / or with the Rendezvous gear invention.
  • the invention relates to a coupling system with the coupling head according to the invention and / or with the coupling device according to the invention and with the invention Rendezvouskopf and / or with the Rendezvous raised invention and / or with the underwater vehicle according to the invention.
  • the coupling system while a coupling head and a Rendezvouskopf, which are reversibly coupled to each other and / or coupled to each other.
  • the invention relates to a deployment method of an autonomous underwater vehicle, wherein the deployment method includes the coupling method according to the invention.
  • the underwater vehicle first performs a mission. After completion of the mission, the underwater vehicle approaches the rendezvous position.
  • This rendezvous position may be a position previously stored in the submersible or, alternatively, received by the submersible during the mission or upon completion of the mission.
  • the underwater vehicle subsequently holds its, in particular fixed or uniformly moving, position, wherein the coupling head, by means of its drive, maneuvers optically and / or acoustically directed to the rendezvous head in such a way that the coupling head is mechanically coupled to the rendezvous head in a positively locking and / or positive manner.
  • the deployment procedure may be a utility process and / or a recovery process.
  • an electrical connection is made to power the underwater vehicle, which provides electrical power to the underwater vehicle via the docking head.
  • a data connection is established via which measurement data is provided by the underwater vehicle via the coupling head.
  • mission data for a new mission is transmitted via the coupling head to the underwater vehicle.
  • the underwater vehicle is towed and / or raised to the recovery position of this submersible by means of the docking device.
  • the rest position may be a position on deck or in a container aboard a base vessel, which preferably has a Bergewinde on which rolled up in this case as a mountain cable cable and thus the underwater vehicle is lifted out of the water.
  • the rest position may, for example, also be a garage on the hull of a submarine or a garage permanently installed on the seabed.
  • the invention can be used to control the foundations of offshore wind turbines.
  • a garage be installed on the foundation of a wind turbine.
  • the cable is firmly connected to the garage or to a station installed at the wind turbine.
  • the starting of the rendezvous position involves the coupling head holding a fixed, fluidically favorable position, the coupling head and the rendezvous head determining relative positions and orientations of the rendezvous head and / or the submersible and the coupling head with respect to one another.
  • a starting trajectory for the rendezvous position defined relative to the position and orientation of the coupling head is subsequently calculated from the relative positions and orientations.
  • the underwater vehicle automatically or autonomously travels along the starting trajectory to the rendezvous position.
  • a defined distance of the rendezvous device and / or the underwater vehicle relative to the rendezvous position is changed to a precision mode in which the underwater vehicle is maneuvered into the rendezvous position taking into account any flow as well as using available sensor information.
  • This sensor information can, for example, the.
  • the o.g. Cameras will be information.
  • Fig. 1 shows a coupling system 1 with a coupling device 2 together with an underwater vehicle 4 in a body of water below the water surface of this body of water.
  • the underwater vehicle 4 is an autonomous underwater vehicle (AUV) that has performed a mission, collecting measurement data during this mission, and now drives a rendezvous position 6 in which docking to a coupling head 8 of the docking facility 2 is planned ,
  • UUV autonomous underwater vehicle
  • the coupling device has, in addition to the coupling head 8, a cable 10 fastened to this coupling head 8 and designed as a suspension cable.
  • the unillustrated other end of the cable 10 is, for example, attached to a base ship, not shown, from which the cable including the coupling head 8 is unwound by means of a Bergewinde.
  • Both the cable 10 and the coupling head 8 each have a ratio of their mass to their volume, which corresponds to the corresponding ratio of water. For this reason, the coupling head 8 and the cable 10 have at most a slight tendency to rise slowly in the water or to sink in the water.
  • the coupling head 8 keeps at a depth of about 10 to 20 meters below the water surface in the water, according to Fig. 1 is lowered.
  • the mass distribution in the coupling head 8 is such that the coupling head 8 alone stabilizes against a lateral tilting or against a rolling movement in its orientation due to this mass distribution, which thus acts as part of position stabilizing means 12.
  • the coupling head 8 has further means as position stabilizing means 12, namely a plurality of controllable drives 14.
  • These drives 14 have propellers with horizontally and vertically oriented axes of rotation, which carry water substantially in the direction of these axes of rotation through the respective propeller and thus a relative movement of the coupling head can cause relative to the surrounding water.
  • the drives 14 with propeller differently shaped drives can be provided which can cause a position or position change of the coupling head relative to the surrounding water.
  • the coupling head can be actively aligned and positioned in the water so that it is actively positioned above the intended rendezvous position 6 and keeps its position above the rendezvous position 6 below until the underwater vehicle 4 has reached this rendezvous position.
  • the coupling system 1 has a rendezvous device 16 arranged on the underwater vehicle 4 with a rendezvous head 18 fastened to the underwater vehicle 4.
  • This rendezvous head 18 is detachably or fixedly connected to the underwater vehicle 4 or integrated into the underwater vehicle 4.
  • the rendezvous device 16 initially controls the underwater vehicle 4, in particular, as long as there is no information about the actual current position of the coupling head, roughly in the direction of the previously fixed rendezvous position 6 stored in the rendezvous device 16.
  • the rendezvous device 16 and the coupling head 8 exchange a communication channel 20 information such as absolute or relative positions to each other, directions and / or speeds with each other.
  • the coupling head 8 has an acoustic communication device 21, by means of which it sends acoustic signals as a positioning aid for the underwater vehicle 4 via the communication channel 20.
  • the rendezvous device 16 receives these acoustic signals by means of hydrophones 22 arranged on the underwater vehicle 4 or on the rendezvous head 18 and calculates a starting trajectory 24 of the underwater vehicle 4 for the rendezvous position 6 with the aid of this information.
  • the starting trajectory 24 results in the rendezvous head 18 in the rendezvous position 6 about 1 meter below the coupling head 8, indicated by the dashed Rendezvouskopf 18 'occupies.
  • the coupling head 8 in particular the communication device 21, via hydrophones 26 for receiving water sound signals, which are sent via the communication channel 20 from the underwater vehicle 4 and the Rendezvouskopf 18.
  • Current position data as well as data relating to the direction of movement and orientation of the underwater vehicle as well as the calculated startup trajectory 24 are also transmitted via the communication channel 20 to the coupling head 8.
  • both the underwater vehicle 4 or the rendezvous head 18 and the coupling head 8 have means for generating and targeted emission of waterborne sound signals. These means at the coupling head 8 are part of the communication device 21.
  • the communication channel 20 is formed by the transmission and reception of optical and / or electromagnetic signals, wherein corresponding means for Transmission and reception of these optical or electromagnetic signals are provided or the communication device 21 has these means.
  • Fig. 2 shows, as well as the 3 and 4 , the coupling system 1 of the first embodiment of Fig. 1 in only opposite Fig. 1 different arrangement of the underwater vehicle 4 relative to the coupling head 8.
  • the same reference numerals thus designate the same parts.
  • the underwater vehicle 4 is shown in the figure Fig. 2 opposite to the picture according to Fig. 1 in a greater proximity relative to the coupling head 8.
  • the distance of the underwater vehicle 4 relative to the coupling head 8 is less than 10 meters.
  • the rendezvous device 16 is therefore changed to a precision mode in which the submersible 4 is maneuvered into the rendezvous position 6 using all available sensor information. In doing so, any flows which are sensed by sensors on the underwater vehicle 4 are taken into account, in particular compensated by corresponding countersteering.
  • the coupling head 8 continues to hold its position or position above the Rendezvousposition. 6
  • the coupling head 8 has a plurality of sensors as position detecting means 28, by means of which it detects the relative position or position of the Rendezvouskopfes 18 and the underwater vehicle 4 to the coupling head 8.
  • These position detection means or sensors are, for example, cameras and / or light sensors.
  • the underwater vehicle 4 or the coupling head 8 therefore emits a light signal that can be received by the position detection means 28.
  • the rendezvous head 18 has its own light source, with which it illuminates the underwater vehicle 4 at least from a certain proximity, so that the position detection means 28 can receive light reflected by the underwater vehicle 4 or by the rendezvous head 18.
  • the coupling device has computing means, decision means and control means for processing sensor information, for providing information which is sent to the coupling device 2 via the communication channel 20, and for controlling the position stabilization means 12 and for actuating position correction means 30.
  • the drives 14 are assigned in this case both the position correcting means 30 and the position stabilizing means 12.
  • the actuators 14 are used not only to stabilize the layer but also to correct the position or position of the coupling head 8 in the water. Alternatively, however, separate position correcting means may also be provided by the position stabilization means 12.
  • the computing means, decision means and control means of the coupling device 2 may be wholly or partly provided in the coupling head 8 be. These means may also be arranged wholly or partly on board the above-mentioned base ship, not shown.
  • the coupling device 2 calculates or recognizes when the underwater vehicle 4 can not reach the rendezvous position due to its current actual position, direction of movement and speed and due to existing flow conditions or only under driving maneuvers defined as being inadmissible for this purpose. Possibly. This calculation also takes place wholly or partly by the rendezvous device 16. An exchange of detected, preprocessed or evaluated data takes place via the communication channel 20.
  • the position correction means 30 are instructed to determine the position or position of the coupling head 8 to thereby define a new Rendezvousposition 6 below the coupling head 8, which can be achieved in a permissible manner by the underwater vehicle 4.
  • This cable 10 thus has an electrical line 32 for supplying power to the coupling head 8 from the base vessel via the cable 10.
  • the electrical line 32 is preferably a copper line or at least one conductor comprising copper.
  • the cable 10 has at least one signal line 34 or data line via which control commands and sensor information or processed or preprocessed information can be transmitted from the base vessel to the coupling head 8 and from the coupling head 8 to the base vessel.
  • the signal line 34 is preferably a glass fiber or glass fiber line or has at least one glass fiber.
  • the cable 10 is detachably connected to the coupling head 8.
  • the coupling head 8 can be removed on board the base ship from the water-side end of the cable 10. It may also be useful, the coupling head of the cable 10th take off to use the cable 10 for other purposes and if necessary to provide it with a different tail.
  • the rendezvous device 16 has an underwater modem 36 in the underwater vehicle 4 or in the rendezvous head 18.
  • This underwater modem 36 has a receiving device 38 for the signals transmitted by the coupling head.
  • the o.g. Hydrophones 22 may be part of the receiving device 38.
  • the rendezvous device 16 furthermore has a computing device 40, by means of which the direction and / or the distance of the coupling head 8 relative to the rendezvous head 18 or to the underwater vehicle 4 is calculated from the signals received via the communication channel 20 and / or further sensed signals or data.
  • the rendezvous device 16 has a control device 42 which, depending on the direction and / or distance of the rendezvous head 18 to the coupling head 8 and depending on the received or calculated rendezvous position 6 controls the underwater vehicle 4 along this approach trajectory 24 to this Rendezvousposition 6 or maneuvered.
  • the calculation of the starting trajectory 24 can be carried out by the control device 42 or else by the computing device 40.
  • Both the computing device 40 and the control device 42 may be provided exclusively for the coupling method according to the invention or be part of devices on the underwater vehicle 4, which are additionally used for further computing tasks or control tasks of the underwater vehicle 4.
  • the rendezvous device 16 has an imaging system designed as a camera system 44, which, for example, is part of the rendezvous head 18.
  • This camera system 44 supports in precision mode in the vicinity of the underwater vehicle 4 relative to the coupling head 8 or at a distance of the underwater vehicle 4 relative to the coupling head 8 of less than 10 meters, the exact maneuvering to Rendezvousposition 6.
  • the camera system 44 has at least one camera, the detected optical images of the coupling head 8.
  • the coupling head 8 preferably has high-contrast significant patterns, which can be detected optically particularly well by means of the camera system 44 and evaluated by means of the computing device 40 or the control device 42.
  • the computing device 40 or the control device 42 carries out an image evaluation of the images of the coupling head 8 detected by the camera system 44, by means of which the position of the underwater vehicle 4 relative to the coupling head 8 alone or in support is determined.
  • Fig. 3 shows the underwater vehicle 4 after reaching the Rendezvousposition 6.
  • the coupling head 8 holds its position or its position in Longitudinal and transverse direction relative to the underwater vehicle 4, whereas the distance of the coupling head 8 is reduced to the Rendezvouskopf 18 by the coupling head 8 is actively moving in the direction of the Rendezvouskopfes 18.
  • the camera system 44 further controls the position of the underwater vehicle 4 relative to the coupling head 8. Alternatively or additionally, this position is determined acoustically or by means of electromagnetic signals.
  • the coupling device 2 also determines the position of the underwater vehicle 4 or of the rendezvous head 18 relative to the coupling head 8, separately or together, in particular by exchanging signals via the communication channel 20 with the rendezvous device 16.
  • the underwater vehicle 4 can either stand idle in the rendezvous position 6 also driven, in particular uniformly in a forward direction, move to maneuver advantageous active and, for example, to counteract a drift by currents can.
  • the coupling head 8 follows after reaching the Rendezvousposition 6 by the underwater vehicle 4 of the longitudinal position and the transverse position of the underwater vehicle 4, wherein the coupling head 8 reduces its height distance to the Rendezvouskopf 18 and thus slowly active for coupling the coupling head 8 to the Rendezvouskopf 18 on this Rendezvouskopf 18th lowers.
  • the coupling head 8 compensates by means of its drives 14 in particular a possibly existing and detected transverse offset of the coupling head 8 relative to the underwater vehicle 4 with respect to the direction of travel of the underwater vehicle 4. While the underwater vehicle 4 can still counteract a drive-off in the longitudinal direction by means of its own drives, controllability of the underwater vehicle 4 in a transverse direction relative to its main direction of movement is comparatively restricted. In particular, the detected transverse offset is therefore actively compensated by the coupling head 8.
  • Fig. 4 shows the coupling head 8, coupled to the Rendezvouskopf 18.
  • the coupling is made by means of a two-part coupling mechanism 46, of which the first part of the coupling head 8 and the second part of the Rendezvouskopf 18 is arranged.
  • the coupling by means of the coupling mechanism 46 takes place automatically, preferably purely mechanically, when the coupling head 8, starting from his in Fig. 3 position shown in his Fig. 4 shown position relative to Rendezvouskopf 18 reached.
  • the coupling mechanism 46 has a snap closure, wherein, for example, a movable snap bracket of the snap closure in the first part of the coupling mechanism 46 engages behind a second part of the coupling mechanism 46 adapted thereto and engages there, thereby producing a positive connection of the coupling head 8 with the rendezvous head 18.
  • the coupling mechanism 46 is preferably designed such that the coupling, in particular the positive connection between the coupling head 8 and the Rendezvouskopf 18 can be solved only by means of a release mechanism 48 again.
  • a release mechanism 48 for example, an automatically captured during coupling locking the coupling mechanism, in particular the snap hook can be solved again.
  • the release of the locking takes place, for example, electromagnetically or by electric motor in response to control commands or electrical signals, which are provided by the coupling device 2 or the rendezvous device 16.
  • the release mechanism 48 like the coupling mechanism 46, has a first part arranged on the coupling head 8 and a second part arranged on the rendezvous head 18. The, in particular electrical, releasing the coupling by means of the release mechanism 48 takes place either on the first part, on the second part or on both parts of the release mechanism 48. Also, a part of the coupling mechanism 46, which may be, for example, only a groove, in which the o.g. Snap latch snaps in the present case is considered at the same time as part of the release mechanism, even if he does not contribute actively by mechanical movement to release, but only maintains the coupling until the release mechanism 48, for example. The positive connection cancels.
  • the coupling head 8 has a power transmission interface 50 and a data transmission interface 52.
  • the power transmission interface 50 automatically establishes an electrical connection between the coupling head 8 and the rendezvous head 18 and thus between the docking device 2 and the rendezvous 16 or underwater vehicle 4 when the docking head 8 and the rendezvous head 18 are coupled together. Therefore, by means of the invention, the underwater vehicle 4 located below the water surface can be supplied with electrical energy from the base vessel via the cable 10, via the coupling head 8 with the energy transmission interface 50 and via the rendezvous head 18, so that, for example, batteries of the underwater vehicle 4 can be charged.
  • the communication interface 52 analogously establishes a signal connection between the coupling head 8 and the rendezvous head 18 when it is Coupling head 8 and the Rendezvouskopf 18 couple together.
  • underwater vehicle 4 can be supplied with not only electrical energy but also new mission data for an upcoming mission without being lifted out of the water.
  • measured data stored in a memory of the underwater vehicle 4 are read out and transmitted via the data transmission interface 52 and the cable 10 to the base vessel.
  • the underwater vehicle 4 can thus remain in the water between two operations.
  • the energy transfer interface 50 and the data transfer interface 52 also automatically disconnect their respective connection to the rendezvous head 18.
  • the end of the cable 10 opposite the coupling head 8 can also be fastened to a fixed station, to a submarine or to a helicopter.
  • the fixed station can be arranged wholly or partly below the water surface.
  • a garage is provided on the foundation of a wind turbine installed in the water into which the underwater vehicle 4 is pulled by means of the cable 10.
  • measurement data from a previous mission are read out and, if necessary, new mission data is transmitted to the underwater vehicle.
  • the underwater vehicle leaves the garage either after decoupling from the coupling head or initially together with the coupling head to break up to a new mission. If the underwater vehicle has left the garage together with the coupling head 8, this coupling head 8 decouples outside the garage from the rendezvous head 18 and is advantageously pulled by means of the cable 10 back into the garage until a return of the underwater vehicle 4 is expected.
  • the underwater vehicle 4 subsequently autonomously examines, for example, the foundations of wind power plants of a wind farm by means of various sensors.
  • the underwater vehicle 4 may further comprise means by which it actively performs work on objects below the water surface, in particular carries out repairs.
  • this cable 10 is designed for stress on tensile load, so that the underwater vehicle 4 also worn above the water surface on the cable 10 and, for example, on the deck of the above base ship or to the above Helicopter can be pulled up.
  • Fig. 5 shows a coupling device 2 'with a coupling head 8' according to a second embodiment of the invention.
  • the coupling head 8 ' has a cross-type portion with drives 14' mounted at its ends. For the coupling process, this cross is aligned horizontally in the water by means of the drives 14 '.
  • a portion of the coupling head 8 ' With a first part of a coupling mechanism 46', a first part of a release mechanism 48 ', the power transmission interface 50 and the data transmission 52 in the vertical direction from the center of the cross downward.
  • the cable 10 is detachably mounted on the coupling head 8 '.
  • the drives 14 ' are pivotable about axes of rotation, whose imaginary extensions extend longitudinally in the arm of the cross of the coupling head 8', to which the respective drive 14 'is attached.
  • the coupling head 8 ' can automatically position itself in any position or orientation in the water. Even sideward movements with horizontally aligned cross of the coupling head 8 are easily possible in this way.
  • individual or all drives 14 ' can be fixed rigidly to the cross of the coupling head 8'. Sideways movements of the coupling head 8 in the water are possible in this way if the coupling head 8 'temporarily tilted by suitable speed control of the propeller 54 and the cross of the coupling head 8' is thus temporarily tilted from the horizontal.
  • Fig. 6 shows an inventive deployment method 56 of the autonomous underwater vehicle 4 according to an embodiment of the invention.
  • This deployment method 56 includes a coupling method 58 according to the invention for coupling the coupling head 8 to the rendezvous head 18 according to an embodiment of the invention. Both the coupling head 8 and the rendezvous head 18 are below the surface of the water during docking in the water.
  • the rendezvous head 18 is arranged as part of the rendezvous device 16 on the underwater vehicle 4, which is preferably brought into the water by means of the coupling device 8 having the coupling device 2 and carries out a mission there according to a step 60.
  • the underwater vehicle 4 for example, autonomously departs a previously programmed course and carries out measurements as long as a mission end has not been reached.
  • the mission end may be timed, for example, depending on a capacity of energy storage devices in the underwater vehicle 4, fixed and stored in a memory of the Rendezvous responded 16 or determined during the mission.
  • the rendezvous device 16 calculates the approach trajectory 24 from the current position of the submersible 4 to the rendezvous position 6 in a step 64.
  • the rendezvous position 6 is read out or determined from a memory of the rendezvous device 16 in this case if sensor information is already available at the rendezvous facility.
  • the current position of the underwater vehicle 4, however, is determined by means of various sensors themselves.
  • the coupling head 8 is lowered or lowered into the water by means of the cable 10 in the region of this rendezvous position 6 at a depth of between 10 and 20 meters below the water surface.
  • the coupling head 8 assumes a position above the rendezvous position - or a position at the same level as the rendezvous position when the coupling head 8 is coupled to the rendezvous head 18 substantially at the same height - and subsequently holds this position or holds its position, into which he was discharged and thereby defines the rendezvous position 6.
  • Eg. is the Rendezvousposition in the vertical direction exactly 1 meter below the Rendezvouskopfes 18 - or alternatively at the same height if the coupling is carried out substantially horizontally.
  • Absolute coordinates of this Rendezvousposition can change, namely, when the coupling head 8 is moved uniformly in the water, because, for example, the base ship, to which the cable 10 is fixed in the water moves.
  • the position of the coupling head 8 in the water however, always remains stable.
  • the coupling device 2 stabilizes the coupling head 8 automatically in the water, wherein the coupling head 8 does not rotate, does not tilt away sideways, does not unintentionally drift sideways and preferably also does not change the water depth in which it is arranged.
  • sensors detect the current position of the coupling head 8 and / or slight changes in position of the coupling head 8. From the detected position or from the detected position changes are subsequently calculated control data, which drive the drives 14 of the coupling head 8 such that these drives 14 a change in position of the Counteract coupling head 8.
  • the coupling head 8 learns at most slight changes in position, which are compensated immediately after their detection, so that the coupling head 8 remains stabilized in its position.
  • a step 68 a query is made as to whether the current position of the coupling head 8 corresponds to a desired position or whether the current position of the coupling head 8 lies above or at the same height as the desired position as the rendezvous position 6.
  • a position correction is carried out in accordance with a step 70, so that the position of the coupling head 8 in the water remains stabilized.
  • a signal exchange via the communication channel 20 takes place.
  • the rendezvous device 16 sends acoustic signals, which are received in a step 74 performed in parallel by the coupling device 2.
  • acoustic signals are also sent via the communication channel 20 from the coupling device 2 and received by the rendezvous device 16 in step 72.
  • the coupling device 2 and the rendezvous device 16 determine relative positions relative to one another.
  • the coupling head 8 holds its position in the water until the underwater vehicle 4 has reached the rendezvous position 6.
  • positions of the coupling head 8 which are determined by means of the own sensor information and from the signals received by the coupling head 8, and positions of the rendezvous head 18 are interrogated. On the basis of these positions, it is determined whether the underwater vehicle 4 has already reached the rendezvous position 6 or not. Until the rendezvous position 6 is reached, the steps 68, possibly 70, 72 and 76, are carried out repeatedly by means of the rendezvous device 16.
  • the underwater vehicle 4 approaches the rendezvous position 6 according to a step 78. If no signals have yet been received from the coupling head 8 which provide information about the actual rendezvous position 6 determined by the position of the coupling head 8, the coupling device 2 first controls the underwater vehicle 4 in the direction of a position stored in the rendezvous device 16 or in the direction of a rendezvous position assumed position. However, as soon as the signal exchange via the communication channel 20 provides more accurate information about the rendezvous position 6, used the rendezvous device 16 this information for the calculation of the starting trajectory 24 in step 64.
  • a step 80 is therefore queried whether a distance of less than 10 meters between the underwater vehicle 4 and the coupling head 8 is reached. As long as there is a greater distance, steps 64, 78, 74 and query 80 are performed repeatedly. Otherwise, a query 82 queries whether the rendezvous device 16 is already in precision mode. If this is not the case, namely, if this distance has just been reached, in a step 84 is switched to the precision mode. Finally, after the query 82 or after the step 84, a query 86, analogous to the query 76, whether the rendezvous position is reached.
  • the steps 86, 78, 74 and the queries 80, 82 and 86 are repeatedly executed so that, if necessary, new start-up trajectories 24 are calculated again and the rendezvous position 6 is reached precisely.
  • the underwater vehicle is maneuvered in the close range relative to the rendezvous position 6 or relative to the coupling head 8 in the precision mode using several, in particular all, available sensor information, taking into account any flow to Rendezvousposition 6.
  • the underwater vehicle 4 possibly maintains its absolute position or relative position relative to the coupling device 2 or the coupling head 8 or tries to maintain this position with the active use of its drive and control means. This is done at least until it is determined according to a query 90 that the coupling head 8 and the rendezvous head 18 are coupled to each other, or it is determined that a coupling from the current position is not possible, resulting in a termination of the docking maneuver.
  • a lowering or a vertical and / or horizontal relative movement of the coupling head 8 to the Rendezvouskopf 18 takes place until, analogous to the query 90 in a query 94 is found that the coupling head 8 and the Rendezvouskopf 18 are coupled to each other.
  • the coupling device 2 optionally corrects the position of the coupling head 8, in order to counteract any lateral drifting apart of the coupling head 8 and the rendezvous head 18 relative to one another.
  • the position correcting means 30 of the coupling device 2 thus ensure that the coupling head 8 is always substantially perpendicular during the lowering is arranged over the Rendezvouskopf 18, so that in the description too Fig. 4 described first and second part of the coupling mechanism 46 are precisely moved towards each other and finally lock together for coupling.
  • an electrical connection and a signal transmitting connection between the coupling head and the Rendezvouskopf 18 and thus between the underwater vehicle 4 and connected to the cable 10 power supply device and with the cable 10 signal transmitting connected devices is manufactured, to which the underwater vehicle. 4 transfer its data collected during the mission in step 60 and receive new mission data from it.
  • a supply of the underwater vehicle 4 takes place in a step 96.
  • the underwater vehicle 4 can also be lifted out of the water by means of the cable 10 and thus be salvaged.
  • the cable 10 is therefore designed to be subjected to tensile forces and has steel and / or aramid fibers, for example Kevlar, in a thickness which withstands these tensile forces.
  • the cable 10 is guided in a so-called. Moonpool of a ship in the water and lifted the underwater vehicle 4 by means of the cable 10 through the Moonpool from the water on board the ship.
  • An advantage of this is a substantial independence of weather conditions such as swell, fog or darkness on the mountains by the Moonpool. Also, the mountains of a covered by a layer of ice water is possible in this way.
  • the underwater vehicle 4 is re-launched by means of the cable 10 or after releasing the coupling between the coupling head 8 and the rendezvous device 16 aboard the base ship in another way.
  • the release mechanism 48 is triggered to start a new mission in a step 98, thereby decoupling the rendezvous head 18 together with the underwater vehicle 4 from the coupling head 8.
  • the underwater vehicle 4 subsequently performs a new mission according to step 60.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Optical Communication System (AREA)
  • Connector Housings Or Holding Contact Members (AREA)
EP11195753.6A 2010-12-29 2011-12-27 Tête d'accouplement, dispositif d'accouplement équipé d'une tête d'accouplement, tête de rendez-vous pouvant y être raccordée, dispositif de rendez-vous doté d'une tête de rendez-vous, véhicule submersible en étant équipé, système d'accouplement, procédé d'accouplement et procédé d'utilisation d'un véhicule submersible Withdrawn EP2471707A3 (fr)

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DE102010056539A DE102010056539A1 (de) 2010-12-29 2010-12-29 Kopplungskopf, Kopplungseinrichtung mit Kopplungskopf, daran ankoppelbarer Rendezvouskopf, Rendevouseinrichtung mit Rendezvouskopf, Unterwasserfahrzeug damit, Kopplungssystem, Kopplungsverfahren und Einsatzverfahren für ein Unterwasserfahrzeug

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EP2471707A2 true EP2471707A2 (fr) 2012-07-04
EP2471707A3 EP2471707A3 (fr) 2018-03-07

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US8757083B2 (en) 2014-06-24
DE102010056539A1 (de) 2012-07-05
US20120167814A1 (en) 2012-07-05

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