EP2489588A1 - Unmanned submarine, interchangeable body that can be attached to it, system comprising the unmanned submarine and the interchangeable body and method for operating an unmanned submarine - Google Patents

Abstract

The unmanned underwater vehicle (2) comprises a vehicle pressure body (34), which delimits a vehicle pressure shell (36), and an energy storage device (32), which is arranged at the vehicle pressure body. A fixing unit (44) is provided for fixing a replacement body (42) outside the vehicle pressure body. The vehicle pressure body is completely enclosed by the vehicle pressure shell. Independent claims are also included for the following: (1) a replacement body for attaching at an underwater vehicle; (2) a system for manipulating or repairing objects in the water; and (3) a method for operating an underwater vehicle.

Description

The invention relates to an unmanned underwater vehicle with a vehicle pressure body which has a vehicle pressure envelope bounding this vehicle pressure body. In the vehicle pressure body and thus within the vehicle pressure shell, an energy storage device is arranged.

Furthermore, the invention relates to a replacement body for fixing to the underwater vehicle according to the invention. Moreover, the invention relates to a system with the unmanned underwater vehicle according to the invention and with the exchange body according to the invention. Finally, the invention relates to a method for operating an unmanned underwater vehicle.

Unmanned underwater vehicles are used, for example, as a cost-effective alternative to manned missions or in cases where dangerous missions are to be carried out where the underwater vehicle could be damaged or destroyed, or where the destruction of the submersible is part of the mission. Known unmanned underwater vehicles are designed differently depending on the tasks for which they are intended. Underwater vehicles are known, which are intended for object destruction and therefore carry explosives with them, which is brought in the vicinity of an object to be destroyed or directly on the object to detonation. If the explosive is previously deposited by the underwater vehicle with a cargo part, this charge part is also destroyed in the detonation, whereas the underwater vehicle remains undamaged. In general, however, the explosive is detonated on the underwater vehicle and destroyed the unmanned underwater vehicle thereby.

The object device provided for unmanned underwater vehicle of the latter type has a non-rechargeable, but long-term storable battery as an energy storage device. In particular, a primary lithium battery (battery LiSO ₂₎ is, for example, according to the prior art. Employed. The state of charge of this battery hardly diminishes with long storage, so that the underwater vehicle equipped with this battery is still operational even after a long time.

In contrast, other and differently designed underwater vehicles are provided for inspection tasks and have sensors, such as, for example, a camera. These underwater vehicles generally have a rechargeable energy storage device. In particular, according to the prior art, a nickel-metal hydride (NiMh) battery is used here. Such batteries can be recharged repeatedly so that the underwater vehicle can perform multiple missions with the same batteries.

For a variety of special tasks many different underwater vehicles are known, all of which must be purchased, stored and kept operational. In the event that these unmanned underwater vehicles are intended for object destruction, they are usually used only once, if at all.

The invention is, after all, the object to improve the possibilities for unmanned underwater vehicles.

The invention solves this problem with an unmanned underwater vehicle according to claim 1, with an exchange body according to claim 4, with a system according to claim 11 and with a method for operating an unmanned underwater vehicle according to claim 14.

The unmanned underwater vehicle according to the invention is of the type mentioned. The unmanned underwater vehicle has fixing means for fixing a replacement body on the underwater vehicle. In this case, the underwater vehicle is either designed such that the vehicle pressure body is completely enclosed by the vehicle pressure shell. In this case, the fixing means for fixing the replacement body are formed outside the vehicle pressure body or outside the vehicle pressure shell. Alternatively, the underwater vehicle is designed such that the vehicle pressure body is enclosed only incompletely by the vehicle pressure shell. In this case, the fixing means for fixing the replacement body to the underwater vehicle are formed such that the vehicle pressure body together is completely enclosed by the vehicle pressure shell and the exchange body.

Further, the underwater vehicle has an energy supply terminal for providing electric power from the energy storage device to at least one electrical device in the case where a foreign supply variant of the replacement body having this electrical device is fixed to the underwater vehicle by the fixing means and electrically connected to the power supply terminal. This exchange body has a replacement body pressure shell, in the interior of which the electrical device is arranged. In the event that the vehicle body is completely enclosed with the replacement body, the vehicle pressure shell and the replacement body shell together may form a common pressure shell for the vehicle body and the electrical device.

The intended use of the unmanned underwater vehicle according to the invention is determined by the exchange body. The invention allows a simple change of the exchange body and thus the use of the underwater vehicle for different purposes.

In addition, the replacement body is not dependent on its own power supply or battery in a training as a third-party supply variant. The replacement body may therefore have an explosive charge, which is thus accommodated separately from a battery. This increases the safety when handling the explosive charge. Accordingly, the underwater vehicle can be equipped by means of the exchange body with an explosive charge without even having to have an explosive charge. Special transport and storage restrictions that are prescribed when handling explosives, therefore, need only be considered for the exchange body, but not for the underwater vehicle according to the invention. This significantly reduces the expense and thus the cost of transportation and storage of the underwater vehicle over an underwater vehicle having explosives.

Different variants or versions of the replacement body allow different uses for the underwater vehicle even in alternation. This allows a good utilization of the underwater vehicle.

The unmanned underwater vehicle is in a preferred embodiment, a wired operating underwater vehicle (ROV = Remotely Operated Vehicle), via a Cable, for example, is supplied by a mothership with electrical energy and / or control commands and / or transmits measurement data, such as images of a camera to the mothership.

In another preferred embodiment, the unmanned underwater vehicle is an autonomous underwater vehicle (AUV = Autonomous Underwater Vehicle). Thus trained, the underwater vehicle can autonomously navigate and operate while performing a mission.

In an advantageous embodiment, the unmanned underwater vehicle has an energy charging connection for charging the energy storage device via this energy charging connection. As a result, the energy storage device can be recharged after discharge of stored energy and / or after possible partial self-discharge.

The energy charging connection is preferably arranged in such a way that, in the event that no replacement body is fixed to the underwater vehicle, this energy charging connection is accessible for charging for a connectable power supply connection. Preferably, the energy charging connection is also accessible for charging when a replacement body, which has no explosive or is not intended to receive explosives, is fixed to the underwater vehicle. The underwater vehicle is further designed such that otherwise, namely in the event that a replacement body equipped with explosive, in particular an explosive charge, is fixed to the underwater vehicle, the energy charging connection is blocked or inaccessible. In this way, the invention provides protection against incorrect operation, namely a protection against charging the energy storage device, while an explosive having exchange body is fixed to the underwater vehicle, or to fix an explosive having exchange body during the charging process on the underwater vehicle. This counteracts the fact that risks emanating from the energy storage device or battery in the event of an error during charging, are further increased by the explosive or the active charge. For safety reasons, it is therefore inevitable that a replacement body fitted with explosives and fixed to the underwater vehicle must be dismantled before the energy storage device is charged.

The energy storage device of the unmanned underwater vehicle is preferably an accumulator which can be charged repeatedly. In particular, the energy storage device is a lithium-ion battery. Namely, such a rechargeable battery can be recharged repeatedly after a partial discharge without significantly reducing the storage capacity of the rechargeable battery. This makes it possible, the energy storage device several years, during which it is held by repeated reloading at a state of charge of 60 to 80 percent, in particular about 70 percent. In the case of, for example, two-year storage, in which the state of charge of the energy storage device is kept at 60 to 80 percent, the energy storage device loses less than 10 percent of its charge capacity. Even in the case of multiple partial discharge and partial charge, the cell voltage of the energy storage device is maintained. Possibly. However, during the storage period, maintenance and material maintenance measures, such as complete or partial charging and / or discharging of the energy storage device, are to be carried out in cycles, in particular in order to maintain the state of charge of the energy storage device at approximately 70 percent.

The underwater vehicle is therefore always ready for use even after several years of storage. The energy storage device is preferably rechargeable in less than 15 minutes from 70 percent to 100 percent or at least 99 percent of its charge capacity. The underwater vehicle can remain permanently equipped with the same energy storage device after all. An exchange of the energy storage device is not necessary. Therefore, the vehicle pressure shell or a pressure envelope surrounding the energy storage device does not need to be opened for replacement or battery replacement. Damage to vehicle parts that might otherwise occur when opening or closing the vehicle pressure shell for a battery change, in particular as a result of incorrect operation, are thus avoided.

Preferably, the vehicle pressure envelope or the energy storage device surrounding pressure envelope is thus not intended to open regularly or not at all to open. This also results in an improved compressive strength of this vehicle pressure sleeve or pressure sleeves against opening vehicle pressure sleeves or pressure sleeves, which are otherwise provided for the respective purpose. The improved compressive strength ultimately means that the unmanned underwater vehicle can be used in relatively larger water depths.

The unmanned underwater vehicle preferably has a vent valve or blow-off valve for counteracting overpressure formation in the vehicle pressure body or in the pressure envelope surrounding the energy storage device. In the event of a defect in the energy storage device, namely, gases can escape from the energy storage device and increase the pressure in the vehicle pressure body and eventually possibly rupture or blow up the vehicle pressure shell. In contrast, the vent valve leads gases and / or liquids from the vehicle pressure body to the environment when the Pressure in the vehicle body pressure exceeds a certain value, in particular relative to the pressure in the environment of the underwater vehicle, and thus protects the vehicle body pressure from damage by overpressure formation.

In a further advantageous embodiment, the unmanned underwater vehicle has a gas detector for detecting damage to the energy storage device associated with gas leakage. In this way, it can be determined early if the energy storage device is defective before the unmanned underwater vehicle is used and preferably even before an overpressure in the vehicle pressure body is formed or before the o.g. Bleed valve Gases and / or liquids from the vehicle body pressure dissipates to the environment.

The fixing means advantageously comprise storage means for supporting the replacement body and exchange body attachment means for securing the stored exchange body to the underwater vehicle. In this way, the freedom of movement of the replacement body relative to the underwater vehicle by means of the storage means, which are preferably immovable parts of the underwater vehicle, be restricted in certain directions. The Austauschkörperbefestigungsmittel therefore need only withstand forces that could move the stored exchange body from its storage.

Preferably, the storage means are designed as linear bearings. The replacement body therefore needs to be secured by means of the exchange body fastening means only against the release of the fixation in a direction of movement.

The storage means are preferably arranged at the bow of the underwater vehicle for the storage of the replacement body at this bow of the underwater vehicle. The longitudinal axis of the linear bearing is preferably aligned parallel to the longitudinal axis of the underwater vehicle. The storage means are easily accessible in this way, especially since they are arranged on the drive of the underwater vehicle at the rear opposite side of this underwater vehicle. The thus fixed to the bow of the underwater vehicle exchange body, which preferably protrudes beyond the bow of the underwater vehicle, thus has a clear view in the main direction of movement of the underwater vehicle. This is advantageous both when the replacement body is a reconnaissance version equipped with sensors and when it is an explosive-equipped object destruction version.

The replacement body attachment means are advantageously a click mechanism or a latching mechanism or parts thereof, wherein corresponding parts are associated with the replacement body.

In an advantageous embodiment, the unmanned underwater vehicle has computing means for calculating a usage indicator which is dependent on the operating time and / or on the number of missions performed by the underwater vehicle. Furthermore, the unmanned underwater vehicle preferably has storage means for storing this usage indicator. The usage indicator may be an operating time, a number of missions, or an amount derived from the operating time and / or number of missions performed. The operating time is preferably a total operating time calculated from several missions. Alternatively, however, the total operating time may also be determined externally after the end of the mission, using the operating time determined for the particular mission.

In a development, further parameters such as the nature of the last mission, the number of times the energy storage device has been charged or times in which the underwater vehicle has been moved during the last mission, or other variables that can provide information about the wear or aging state of the underwater vehicle can also be provided , to be included in the calculation of the usage indicator. The usage indicator can be taken into account when selecting a suitable underwater vehicle for a pending mission, or when determining which mission with which replacement body the underwater vehicle is to carry out in the future.

In an advantageous development, the underwater vehicle has an, in particular optical, display, which provides information about the usage indicator or a variable derived therefrom. For example. For example, a green indicator may suggest that you use the submersible for an inspection mission. After a plurality of missions, the display may, for example, change from green to red, thereby indicating the use of the underwater vehicle in an object destruction mission for object destruction in which an explosive-loaded replacement body is attached to the underwater vehicle and the replacement body is eventually blasted together with the underwater vehicle. In this way, underwater vehicles can initially be used for multiple missions, before they are equipped for a final mission with an explosive-bearing replacement body. Thus, an optimized use of the underwater vehicle is possible without time-consuming bookkeeping.

The Austauschköper is designed for fixation on the underwater vehicle according to the invention. The replacement body can be designed as a third-party variant and as a non-external supply variant. In the alternative supply variant, the replacement body has a power receiving connection for supplying power to electrical devices of the replacement body. This energy receiving terminal may be coupled to the power supply terminal of the underwater vehicle or is coupled to this power supply terminal, particularly when the replacement body is fixed to the underwater vehicle. This has the advantage that the replacement body may have electrical facilities that need to be supplied with energy, but it does not need to have its own energy storage device or its own accumulator. Thus, a separation of the energy storage device of electrical devices, such as. The detonator of an explosive having exchange body possible. In the non-external supply variant of the exchange body is, for example, designed as a training version, which has no electrical facilities in a particular embodiment. Alternatively, however, the replacement body can also have its own energy storage device.

In an advantageous embodiment of the exchange body is designed as Objektvernichtungsversion with an explosive charge. The explosive charge is preferably a blast charge for the targeted generation of a high impact explosive effect. Furthermore, the object destruction version of the replacement body advantageously additionally comprises an igniter and a safety device. The igniter and preferably also the safety device are electrical devices that are supplied with electrical energy via the energy supply connection of the underwater vehicle. The object destruction version of the replacement body can be stored separately from electrical energy sources and thus safe and does not need to be equipped with separate batteries even before use.

However, in an alternative embodiment, the replacement body may also have in the object destruction version of its own small battery or other energy storage device for supplying the electrical equipment of the exchange body.

In a further development, the replacement body in the object destruction version on a Wirkrichtungseinstellvorrichtung for adjusting the effective direction of the explosive charge. The explosive charge is positioned to destroy an object in such a way relative to this object that the direction of action points in the direction of the object to be destroyed. In particular, the explosive hollow charge generates an energy spike, which is purposefully directed to the object to be destroyed or targeted to a sensitive area of this object for its destruction can. The object to be destroyed, for example a mine, or the sensitive area of this mine can be buried in the ground or partially buried with sediments. A frontal approach of the underwater vehicle to destroy a buried mine would be possible in this case only if the underwater vehicle with the replacement body would take an overall inclined position. However, an inclined position is an unstable position for an underwater vehicle, since the underwater vehicle is generally designed so that it automatically aligns horizontally in the water, if it does not take another position by means of its drives.

The effective direction adjustment device therefore makes it possible, even in the case of a stable or horizontal orientation of the underwater vehicle in the water, to tilt the energy peak of the blasting cargo obliquely, in particular pivoted in the direction of the object, in particular with respect to the longitudinal axis of the replacement body or of the underwater vehicle. In this way, even partially buried mines can be cleared by means of the underwater vehicle, which is equipped with such a replacement body, cleared.

The effective direction adjusting device preferably has a bearing device which provides at least one pivot axis for pivotally supporting the explosive charge. The pivot axis is preferably a transverse axis, which is preferably aligned horizontally aligned transversely to the longitudinal axis of the Austauchkörpers or the underwater vehicle. Alternatively or additionally, a vertical axis or vertical axis is provided as the pivot axis, which allows pivoting sideways relative to the longitudinal axis of the replacement body or underwater vehicle.

In a particular embodiment, the bearing device has a ball joint or a gimbal bearing, so that pivoting in virtually any direction is possible. The pivot axis may also be a non-representational axis, which may possibly also be pivoted or moved.

Preferably, the pivoting of the explosive charge by means of the bearing device is limited to an angular range with respect to the longitudinal axis of the replacement body or of the underwater vehicle of up to 45 degrees. Even more preferably, only a pivoting of up to +/- 15 degrees, in particular of up to +/- 10 degrees with respect to this longitudinal axis is possible. Due to this restriction of the pivoting range, the explosive charge can be made longer than the exchangeable body, for example, is high and wide. The replacement body can therefore remain compact and yet a comparatively large explosive charge in its interior take up. The explosive charge can not rotate in this case, but only be adjusted in the described angle range in the inclination.

The explosive charge is controlled by an electronic control device or device for control, which can be permanently connected to the explosive charge and therefore can be pivoted together with the explosive charge. In an alternative embodiment, however, this control electronics is arranged separately from the explosive charge in Austauchkörper such that this control electronics does not pivot. Thereby, the size or length of the pivoting part or the explosive charge can be further reduced, so that with the same dimensions of the exchange body either a larger explosive charge can be provided or the angle by which the explosive charge can be pivoted, can be increased, respectively opposite the embodiment in which the control electronics pivots.

The effective direction adjusting device preferably has adjusting means for manually pivoting the explosive charge about the pivot axis. A manual pivoting means that this pivoting does not take place automatically by means of a drive, for example by means of a motor, in particular by remote control, but is performed by an operator who has access to the immersion body.

The adjusting means is preferably a set screw or has an adjusting screw. In this way can cost manually before the underwater vehicle is left with the Austauchkörper water, by turning the adjusting screw, the effective direction of the explosive charge can be adjusted. In general, prior to the mission to detonate an enlightened mine, it is generally known where this mine is located, where there is an advantageous launch position for the submersible, and at what angle the energy sting must be delivered by the submersible or body to favor the mine to meet. The adjusting means or the screw is thus a cost-effective means to adjust the effective direction, especially since the exchange body is destroyed when igniting the explosive charge. The replacement body therefore preferably has no means for automatically pivoting the explosive charge. In particular, the replacement body preferably has no drive or no motor for automatically pivoting the explosive charge about the pivot axis.

The adjusting means or the adjusting screw is preferably arranged accessible from the outside on the exchange body. In particular, the adjusting means or the adjusting screw is arranged on the replacement body such that a tool in the adjusting means or in the adjusting screw can intervene in order to adjust the effective direction by means of this tool, without having to open the exchange body pressure shell for this purpose. Alternatively, the adjustment means, for example, behind a cover, such as a flap or a lid, hidden, this cover must first be removed or opened to make the adjustment means accessible.

Furthermore, it is possible for the adjusting means to be accessible only after opening the replacement body pressure shell and / or only when the replacement body is not fixed to the underwater vehicle.

According to a preferred embodiment, the effective direction adjustment device is designed such that a pivoting of the explosive charge and thus a pivoting of the effective direction only in steps with angles of, for example, 1 degree is possible. In this way, the invention enables a simple setting of defined effective directions, can be calculated for the advantageous positions and orientations of the underwater vehicle relative to the object to be destroyed when igniting the shaped charge. In particular, this makes it possible to precisely set the effective direction into one of a plurality of predetermined angles, so that the object to be destroyed can be hit with great precision.

Preferably, a design of the replacement body is provided as a non-object destruction version that has no explosives. The replacement body in the non-object destruction version is preferably the already mentioned training version or an inspection version of the replacement body. Preferably, the volume and mass of the replacement body in the non-object destruction version are the same as the volume and mass of the replacement body in the object destruction version. In this way, it is possible to use as a training version a non-explosive, but otherwise the object destruction version corresponding exchange body or a dummy body with which the underwater vehicle at least approximately like the underwater vehicle with the exchange body in the object destruction version in the water behaves well and therefore Exercise is suitable. Also, the inspection version preferably has the same volume and mass as the object destruction version in order to obtain optimum maneuverability of the underwater vehicle together with the replacement body, regardless of the version used in each case.

Preferably, the exchange body in the non-object destruction version, in particular in the training version, also has the same dimensions as the exchange body in the object destruction version.

In one embodiment, the replacement body has at least one acoustic sensor and / or at least one optical sensor and / or at least one orientation sensor. Alternatively or additionally, the replacement body has one or more additional sensors. The replacement body with sensor is preferably designed as an inspection version and can be used for reconnaissance missions or for examinations, for example, on lines, cables or foundations on the seabed, or for the investigation of ship hulls or harbor basin boundaries. The sensors are to be understood as electrical devices of the replacement body, which may possibly be wholly or partially supplied by the underwater vehicle with electrical energy. For example, a side sonar or a so-called "side scan sonar" and / or a high-resolution gyroscope are provided as an acoustic sensor. The optical sensor is, for example, a camera. As a further sensor, a magnetic sensor may be provided.

In an advantageous embodiment of the replacement body, the replacement body has an expansion energy storage device for the sole or supporting energy supply of electrical equipment of the replacement body and / or electrical equipment of the unmanned underwater vehicle. For example. The said sensors can be supplied with electrical energy at the replacement body by means of the expansion energy storage device and thereby relieve the energy storage device of the underwater vehicle, which thus has more energy available to supply drives of the underwater vehicle. In an advantageous embodiment, even the underwater vehicle is supplementarily supplied with electrical energy from the expansion energy storage device. This can increase the range of the underwater vehicle. In this case, the electrical energy is preferably transmitted in the opposite direction via the energy receiving connection and / or via the energy charging connection of the underwater vehicle to the underwater vehicle. In this way, no additional connections need to be provided.

In an advantageous embodiment, the exchange body has a receiver and an antenna for receiving satellite signals for the satellite-supported position determination. For example. the satellite signals may be satellite signals of the so-called Global Positioning System (GPS), the receiver being a GPS receiver and the antenna being a GPS antenna. To determine the current position is provided that the unmanned underwater vehicle emerges in a region just below the surface of the water and his antenna as far as possibly extends beyond the surface of the water, that satellite signals are received by the antenna and fed to the receiver , Thereby a position determination becomes possible. Subsequent maneuvering may be accomplished by other sensors relative to that particular position or incorporating that particular position. In shallow waters, the satellite signals allow navigation, even if other sensors do not provide reliable information

In an advantageous embodiment, the exchange body has horizontal thrust means for generating a thrust in horizontal transverse direction to the underwater vehicle. The thrust is generated in the case that the replacement body is fixed to the underwater vehicle in horizontal transverse direction to this underwater vehicle. This improves the maneuverability of the underwater vehicle in a direction laterally to the main direction of movement of the underwater vehicle, in which the maneuverability of the underwater vehicle, especially during slow travel and strong side flow, would otherwise be limited. Lateral ocean currents can be compensated so far by means of the horizontal thrust that the underwater vehicle does not have to be inclined in the flow, but can maintain its orientation in the water and thus particularly well in training as an inspection version examinations using the thus stabilized underwater vehicle. The horizontal thrust means preferably have at least one propeller rotating about a vertical axis of rotation and are preferably designed as so-called "thrusters".

In further advantageous embodiments, the replacement body is designed for locating, following and / or investigating a pipeline or a submarine cable, for detecting gas and / or explosives and / or for detecting or investigating other objects in the water or the water itself and / or Manipulating or repairing objects in the water. The respective replacement body has a sensor equipment with corresponding sensors or actuators for this purpose. For example. Sensors include sensors for locating and tracking, in particular tracking, measuring and tracking, a pipeline, such as sensors of a sonar device. Furthermore, preferably include gas detectors and / or explosives detectors, in particular with neutron source for non-contact detection of explosives, the sensor equipment. Salinity sensors for determining the salt content of the surrounding water and / or temperature sensor for sensor equipment are also preferred. Finally, the sensor equipment preferably includes optical and / or acoustic sensors.

The system with the at least one unmanned underwater vehicle and with the at least one exchange body preferably has at least one of the exchange bodies in the object destruction version and additionally at least one of the exchange bodies in a non-object destruction version. The replacement bodies in the different versions can be fixed at different times on the underwater vehicle, so that the underwater vehicle can be used for different missions. In particular, in addition to the replacement body in the object destruction version, the system has at least one replacement body in the training version and / or at least one replacement body in the inspection version. Thus, with the training version, the use of the object destruction version can be trained or the underwater vehicle can be used for inspection purposes with the inspection version, and a final mission can be carried out at the end of its estimated service life with the replacement object in the object destruction version.

Preferably, the system has a replacement body which is designed as an autonomous rapid charger. For this purpose, the replacement body preferably has charging connection means for charging the energy storage device by means of the replacement body in the event that the replacement body is fixed to the underwater vehicle and electrically connected to the charging port. The quick charger is thus not fixed during a mission or in the water on the underwater vehicle, but serves to be docked before performing a mission in place of a mission for replacement body to the submersible, thereby to load the energy storage device of the underwater vehicle in a short time or recharge and make the underwater vehicle operational in this way. After charging, the quick charger can then be removed and replaced with the replacement body intended for the mission. The autonomous rapid charger can be used mobile and make the underwater vehicle operational without access to energy sources or far from a mothership or fixed shore station within a short period of time, in particular less than 15 minutes. Alternatively, however, a nichtautonomous variant of the rapid charger may be provided, the energy in turn by a cable, for example. From a mothership relates.

According to the inventive method, a replacement body is fixed in a foreign supply variant outside the vehicle pressure body on the underwater vehicle and electrically connected to the energy supply connection. Via this energy supply connection, the energy storage device provides electrical energy to the electrical device inside the replacement body pressure shell.

The method is further developed by method steps that can be carried out by means of at least one underwater vehicle according to the invention in conjunction with at least one replacement body or with the system according to the invention.

Advantageously, the underwater vehicle first performs a mission with a replacement body fixed to the underwater vehicle. Subsequently, the energy storage device of the underwater vehicle is preferably charged again to about 70 percent or between 60 and 80 percent and held during storage, if necessary by repeated reloading in this state of charge. The replacement body is either removed prior to loading, especially if the fixed replacement body does not permit connection for recharging. Otherwise, the replacement body, especially in the inspection version, remain fixed even when charging the underwater vehicle.

Before a further mission, the energy storage device is subsequently charged, in particular completely. Subsequently, the same exchange body from the previous mission or another similar exchange body or a differently designed exchange body is fixed to the underwater vehicle. With this replacement body, the underwater vehicle finally performs the further mission.

Advantageously, during or after the mission, the o.g. Usage Indicator updated as a function of operating time and / or depending on the number of missions performed. Further, environmental parameters (e.g., temperature) measured, in particular, may also affect the usage indicator. For the further mission, the underwater vehicle is then selected depending on this usage indicator. In one embodiment, the underwater vehicle can display the usage indicator and / or a usage suggestion that is dependent on the usage indicator directly on the underwater vehicle. Alternatively or additionally, the usage indicator is transmitted to a central console or control unit. This control unit preferably receives usage indicators of several underwater vehicles. For a pending mission, it is preferably automatically proposed by means of this control unit which underwater vehicle should be used for this mission. The proposal is calculated as a function of the usage indicators of the available underwater vehicles.

Fig. 1

ein unbemanntes Unterwasserfahrzeug gemäß einem Ausführungsbeispiel mit einem daran fixierten Austauschkörper gemäß einem Ausführungsbeispiel in einer Seitenansicht;

Fig. 2

das unbemannte Unterwasserfahrzeug und der darin fixierte Austauschkörper gemäß dem Ausführungsbeispiel von Fig. 1 in einer Frontansicht;

Fig. 3

ein System mit drei unbemannten Unterwasserfahrzeugen gemäß dem Ausführungsbeispiel von Fig. 1, mit dem Austauschkörper gemäß dem Ausführungsbeispiel von Fig. 1 und mit weiteren Austauschkörpern gemäß weiteren Ausführungsbeispielen und mit einer zentralen Bedienkonsole;

Fig. 4

ein Flussdiagramm zur Veranschaulichung eines Verfahrens zum Betreiben eines unbemannten Unterwasserfahrzeugs gemäß einem Ausführungsbeispiel der Erfindung;

Fig. 5

ein Flussdiagramm zur Veranschaulichung von Verfahrensschritten, die das Unterwasserfahrzeug während einer Mission ausführen kann, gemäß einem Ausführungsbeispiel der Erfindung;

Fig. 6

einen Austauschkörper in der Objektvernichtungsversion gemäß einem weiteren Ausführungsbeispiel mit einer darin angeordneten verschwenkbaren Sprenghohlladung in einer Seitenansicht und

Fig. 7

den Austauschkörper des Ausführungsbeispiels gemäß Fig. 6 fixiert am Unterwasserfahrzeug des Ausführungsbeispiels von Fig. 1 mit der gegenüber der Anordnung in Fig. 6 verschwenkten Sprenghohlladung in einer Seitenansicht.

Further embodiments will become apparent from the claims and from the embodiments explained in more detail with reference to the drawing. In the drawing show:

Fig. 1

an unmanned underwater vehicle according to an embodiment with a fixed thereto exchange body according to an embodiment in a side view;

Fig. 2

the unmanned underwater vehicle and the fixed therein exchange body according to the embodiment of Fig. 1 in a front view;

Fig. 3

a system with three unmanned underwater vehicles according to the embodiment of Fig. 1 , with the exchange body according to the embodiment of Fig. 1 and with further exchange bodies according to further embodiments and with a central control panel;

Fig. 4

a flowchart for illustrating a method for operating an unmanned underwater vehicle according to an embodiment of the invention;

Fig. 5

a flowchart for illustrating steps that the underwater vehicle can perform during a mission, according to an embodiment of the invention;

Fig. 6

a replacement body in the object destruction version according to a further embodiment with a pivotable explosive charge charge disposed therein in a side view and

Fig. 7

the exchange body of the embodiment according to Fig. 6 fixed to the underwater vehicle of the embodiment of Fig. 1 with the opposite of the arrangement in Fig. 6 pivoted explosive charge in a side view.

Fig. 1 and Fig. 2 show an unmanned underwater vehicle 2 according to an embodiment of the invention in a side view ( Fig. 1 ) and in a front view ( Fig. 2 ). This unmanned underwater vehicle 2 is designed as a wired underwater vehicle (ROV) or as an autonomous underwater vehicle (AUV), controlled with or without a wired connection to a controlling unit via the cable or independently a mission in a body of water such as a sea, lake or River can perform. For this purpose, the underwater vehicle 2 maneuvered by means of a sonar system 4. For propulsion in the water drives with propellers 6, 8, 10 and 12 are provided at the rear 14 of the underwater vehicle 2 at the end of rods 16, 18, 20 and 22 of the underwater vehicle 2 are arranged. In these rods 16 to 22 batteries are arranged as battery strings and electric motors for driving the propellers 6 to 12. The underwater vehicle 2 advantageously has a battery management system that ensures the same state of charge of the four battery strings.

The unmanned underwater vehicle 2 further includes vertical thruster 24 having a propeller that rotates about a vertical axis of rotation. The vertical thruster 24 allow the underwater vehicle quickly and without horizontal movement to change its depth, in particular to submerge or emerge. Further, the unmanned underwater vehicle 2, rigid or movable elevator 26 and rudder 28 on.

The present exemplary embodiment merely shows, by way of example, a possible embodiment of the underwater vehicle 2 according to the invention. Of course, the underwater vehicle can also be configured differently in a variety of ways without departing from the scope of the invention, for example having only two instead of four illustrated drives.

All electric devices of the underwater vehicle 2, such as the sonar system 4, the propellers 6 to 12, the vertical thruster 24 and the elevators 26 and the rudder 28, if they are electrically controlled, are controlled by a control device 30 and at least partially by an energy storage device 32, eg a lithium-ion battery, supplied with electrical energy. Alternatively, a supply in the case of the formation of the underwater vehicle as ROV can also be made via a cable. The above-mentioned, arranged in the rods 16 to 22 batteries or four battery strings can be regarded as part of the energy storage device or even form the energy storage device. In any case, the energy storage device 32 is arranged in a vehicle pressure body 34 of the underwater vehicle 2. The vehicle pressure body 34 is delimited by a vehicle pressure shell 36, wherein the vehicle pressure body is completely enclosed by the vehicle pressure shell 36 in this embodiment.

The energy storage device 32 or the lithium-ion battery can be stored for a long time and recharged repeatedly, so that it is permanently installed in the underwater vehicle 2 and does not have to be replaced during the entire life of the underwater vehicle. Therefore, in particular when the vehicle pressure body 34 is completely closed by the vehicle pressure envelope 36, there are no openings for disassembling the energy storage device, in particular a part of the energy storage device which is not arranged in the rods 16 to 22 32, provided in the vehicle pressure shell 36. The vehicle pressure shell 36 is therefore very resistant to high pressures, so that the underwater vehicle 2 can also be used at great depths below the water surface, without having to fear that water enters the vehicle pressure body.

In the event that due to a failure of the energy storage device 32, the pressure in the vehicle pressure body 34 due to gases exiting the energy storage device 32 is increased, a vent valve 38 is provided in the vehicle pressure shell 36. The vent valve 38 opens automatically when the pressure in the vehicle pressure body exceeds a certain value. Furthermore, the underwater vehicle 2 has a gas detector 40, which senses possibly emerging from the energy storage device 32 gases, so that a defect of the energy storage device 32 can be detected and displayed or an alarm can be triggered. However, the gas detector 40 may also be omitted in an alternative embodiment.

The possible uses of the unmanned underwater vehicle 2 are essentially determined by a replacement body 42 fixed thereto. Depending on the variant or version of the replacement body 42, the unmanned underwater vehicle 2 can be used for different missions. The exchange body 42 shown in this embodiment is designed as object destruction version and has explosives. A mission with this object destruction version of the replacement body 42 is usually a final mission of the underwater vehicle 2, at least when the underwater vehicle 2 is destroyed by explosion of the exchange body 42 with. On the other hand, if the replacement body 42 is separated from its underwater vehicle 2 prior to its explosion, which may be the case in particular embodiments, the unmanned underwater vehicle 2 may be used even more times after a mission with the replacement body 42 in the object destruction version.

The replacement body 42 is fixed by fixing means 44 on the underwater vehicle 2. The fixing means 44 comprise storage means 46 and exchange body attachment means 48. The storage means 46 are partially formed by the rods 16 to 22, but in this embodiment at least by the rods 16 and 22. Furthermore, the replacement body 42 rests on a type of trough 50, which also forms part of the storage means 46. A support 52 serves only for supporting the rods 16 and 22.

For fixing or for securing the replacement body 42 on the underwater vehicle 2 at the bow 54 of the underwater vehicle 2, this replacement body 42 from the bow 54 in the direction a longitudinal axis of the underwater vehicle 2 or parallel to the rods 16 to 22 in the direction of the stern 14 as far inserted into the storage means 46 until the exchange body 42 can be fixed by means of the exchange body attachment means 48 on the underwater vehicle 2 or is fastened automatically. For automatic fastening, the replacement body attachment means 48 comprise a click mechanism that automatically engages the replacement body 42 for attachment to the underwater vehicle 2. The replacement body fasteners 48 secure the replacement bodies 42 against movement parallel to the main axis of the underwater vehicle or parallel to the rods 16 to 22. The movement in all other directions of movement is prevented by the storage means 46.

The replacement body 42 is fixed in this embodiment, outside of the vehicle pressure body 34 and outside of the vehicle pressure shell 36 on the underwater vehicle. Alternatively, however, the replacement body 42 and the vehicle pressure shell 36 may also form a common pressure shell.

In addition to explosive, the replacement body 42 also has at least one electrical device 56, namely an igniter. As a further electrical device or as a further part of the electrical device 56, a safety device is provided.

The explosive of the exchange body 42 is disposed in an explosive charge 58, which may be formed as Sprenghohlladung. The blast hollow charge makes it possible to release the explosive force targeted to the bow 54 or in the main direction of movement or in the direction of the longitudinal axis of the underwater vehicle 2 and thereby to achieve a high penetrating force.

The explosive charge 58 and the electrical devices 56 are arranged together in a Austauschkörperdruckhülle 60 of the exchange body 42. The replacement body pressure shell 60 is closed on its own, but in an alternative embodiment can also be closed only by the underwater vehicle 2 or together with the vehicle pressure shell 36 form a closed shell around the explosive charge 58 and the electrical devices 56 and optionally around the vehicle pressure body 34.

For safety reasons, in the present case no battery or energy storage device is arranged in the replacement body pressure shell 60 of the replacement body 42 in the object destruction version. The replacement body 42 in the object destruction version is instead as a third party variant formed, which derives its electrical energy for supplying the electrical device 56 from the underwater vehicle 2. For this purpose, the underwater vehicle 2 has an energy supply connection for providing electrical energy. In the exchange body 42 properly fixed to the underwater vehicle 2 in the object destruction version and in every other replacement body in a foreign supply variant, the replacement body 42 is electrically connected to this energy supply connection 62. In particular, the replacement body 42 and each other exchange body in the alternative supply variant has a power receiving connection 64 which can be coupled to the energy supply connection 62 of the underwater vehicle 2.

In a departure from this exemplary embodiment, the replacement body 42 according to an alternative exemplary embodiment can also have an expansion energy storage device or battery in the object destruction version, for example a primary battery with a storage capacity that is small compared to the storage capacity of the energy storage device 32 of the underwater vehicle 2. Furthermore, the replacement body can have one or more capacitors or for safety reasons can do without them, preferably irrespective of whether the replacement body has an expansion energy storage device or not. The term energy storage device or expansion energy storage device is thus presently preferably an electrochemical system for storing electrical energy, but not a capacitor to understand.

For charging the energy storage device 32 of the underwater vehicle 2, this underwater vehicle 2 has an energy charging connection 66 in the case of the fixed exchange body 42 in the object destruction version according to FIG Fig. 1 is covered by this exchange body 42 such that the charging of the energy storage device 32 through the energy charging port 66 of facilities outside the underwater vehicle and outside the exchange body 42 is not possible. Characterized a charging process is prevented when the exchange body 42 and thus the explosive charge 58 is fixed to the underwater vehicle 2. On the other hand, other replacement bodies in a non-object destruction version, in particular an inspection version, can be configured such that the energy charging connection 66 is accessible, even if such another replacement body is fixed to the underwater vehicle 2.

Fig. 3 shows a system 68 with three unmanned underwater vehicles 2, 2 'and 2 "according to the embodiment of Fig. 1 in a simplified schematic representation, a replacement body 42 'in the object destruction version according to a second embodiment of the invention, together with further exchange bodies 70, 72, 74, 76 and 78 in non-object destruction versions, a mobile charger 80 and a central control panel 83. The underwater vehicle 2 'is stored at a state of charge of its energy storage device 32 of about 70 percent of the capacity of this energy storage device 32, since in such a state of charge chemical processes that lead to aging of the energy storage device 32 and the lithium Ion accumulator could be largely suppressed. In addition, the so stored energy storage device 32 of the underwater vehicle 2 'can be recharged within a short time to 100 percent or nearly 100 percent of their capacity and the underwater vehicle 2' thus be made ready for use.

The underwater vehicle 2 "or its energy storage device 32 is shown in the illustration Fig. 3 For example, the energy storage device 32 is only recharged when it is charged to less than 70 percent, such as 65 or 60 percent, of its maximum storage capacity the power charging terminal 66 is therefore connected to a charging connection cable 84.

To the power charging port 66 of the underwater vehicle 2, a charging connection cable 84 'is also connected. In this case, however, the recharging of the energy storage device 32 serves to achieve a state of charge of 100 percent or nearly 100 percent, thus making the unmanned underwater vehicle 2 operational for mission. Such reloading from 70 percent to 100 percent of the load capacity is possible in less than 15 minutes.

In the illustration shown, the unmanned underwater vehicle 2 is further connected by means of a data cable 86 to the central control panel 82 and receives over this data cable 86 mission data for his upcoming mission.

Even after returning from a mission, the respective returned underwater vehicle, in particular if it is an AUV, connected by means of the data cable 86 to the central control panel 82 to read collected measurement data and the value or data of a utilization indicator of the respective underwater vehicle. 2 2 ', 2 "to the central operating console 82. Alternatively, data transmission takes place via a removable storage medium or by radio The operating times of the unmanned underwater vehicles 2, 2' and 2" are first of all as operating times of the last mission and / or as total operating times from the respective underwater vehicles 2, 2 ', 2 "and then from the console 82. At the console 82, it is automatically or manually based on the total operating times or, on the basis of the usage indicators, it is decided which underwater vehicle 2, 2 ', 2 "is selected for an imminent mission.To calculate and store the usage indicator, the unmanned underwater vehicle has calculation means and storage means (not shown here).

The replacement body 42 'is substantially the same as the replacement body 42 of the embodiment Fig. 1 however, additionally includes an antenna 88 for receiving satellite signals from a global positioning system, such as GPS. Furthermore, the exchange body 42 'has a device for processing received satellite signals and for determining the position by means of these satellite signals. Alternatively, this device is arranged for processing the satellite signals or for determining the position in the underwater vehicle.

The replacement body 70 is a non-object destruction version, more specifically a training version substantially similar to the replacement body 42 'in the object destruction version, but having no explosive or explosive charge 78 as the replacement body 70 in the training version.

Also, the exchange body 72 is a training version, but has no power receiving terminal and no electrical equipment. Also, a pressure shell does not necessarily have to be provided in the exchange body 72 designed as a dummy body.

The immersion body 74 is an exchange body in an inspection version 74, which therefore has a plurality of sensors, namely a so-called side scan sonar as acoustic sensor 90, a camera as optical sensor 92 and a gyroscope or gyro compass as orientation sensor 94 in this exemplary embodiment.

The exchange body 76 has horizontal thrust means 96, which are formed like the vertical thrust means 24 of the underwater vehicle 2, but provide a thrust in horizontal transverse direction to the underwater vehicle, when the exchange body 76 is properly fixed to this underwater vehicle 2. As a result, the maneuverability of the underwater vehicle 2 is improved in the sideways direction, which is particularly helpful in lateral flow. The replacement body 76 may otherwise also be an inspection version and have sensors analogous to the exchange body 74.

The replacement body 78 has an expansion energy storage device 98, which can support the energy storage device 32 and can be coupled to the energy charging connection 66 of the underwater vehicle 2 via a power supply connection 100. As a result, the range of the underwater vehicle 2 can be increased. Of course, the system may also have any other exchange body having features of the exchangeable body 70 to 78 in any combination, but an explosive-containing object destruction version preferably has no own energy storage device or expansion energy storage device.

Finally, the system 68 still has the mobile charger 80, which is also to be regarded as a replacement body insofar as it can be fixed by means of the fixing means 44 on the underwater vehicle 2 or at least by means of the storage means 46 can be stored on the underwater vehicle 2. The mobile charger 80 has as a charging terminal connecting means the power supply terminal 100 which can be connected to the charging port 66 of the underwater vehicle 2 to charge the energy storage device 32 of the underwater vehicle 2. The mobile charger 80 has its own energy storage device 102, so that a charging of the energy storage device 32 of the underwater vehicle 2 without connection to a stationary power grid is possible.

Fig. 4 shows a flowchart illustrating a method 104 for operating the unmanned underwater vehicle 2 according to an embodiment of the invention. After starting the method in a step 106, the underwater vehicle 2 is initially stored with a charge state of about 70 percent of its charge capacity until it is used. Accordingly, it is queried in a query 108 during this storage, whether the state of charge of the energy storage device 32 exceeds a certain value, for example. 65 percent of the current charge capacity of the energy storage device 32. If so, query 110 continues. Otherwise, the energy storage device 32 is reloaded in a step 112 to a state of charge of, for example, 75 percent of the current charge capacity of the energy storage device 32.

The query 110 continues. In accordance with this query 110, a query is made as to whether the underwater vehicle 2 has been selected for a mission. As long as this is not the case, the waiting time is continued and the method 104 thus continues with the query 108. Otherwise, this waiting loop is left and continued with step 114. According to this step 114, the storage device 32 is charged to 100 percent of its charge capacity and the underwater vehicle 2 is made ready for use. Furthermore, in one step 116 mission data for the upcoming mission to underwater vehicle 2 transferred. The steps 114 and 116 can also take place at the same time or in the reverse order.

At least after step 114, the replacement body 42 required for the selected mission is fixed to the underwater vehicle 2 in a step 118 if it is not already fixed to the underwater vehicle 2. In a step 120, the underwater vehicle finally carries out its mission. It may be that the underwater vehicle 2 does not return from its mission, as it leads, for example, explosives with it and is destroyed using the explosives in this mission. This is clarified by a query 122, in which it is queried whether the underwater vehicle 2 returns from its mission. If the underwater vehicle 2 does not return, the method as well as for the underwater vehicle 2 is ended in a step 124. Otherwise, in particular if the underwater vehicle does not carry any explosive, after the mission has been carried out in accordance with step 120, in a step 126 the replacement body 70 - 78 is removed. However, the step 126 may also be omitted if the fixed replacement body 70-78 does not obscure the charging port 66.

In a step 128, furthermore, the usage indicator for the underwater vehicle 2 is updated and if necessary transferred to the central operating console 82 or otherwise read out. The updating of the usage indicator can also be done during the mission. Furthermore, the order of steps 126 and 128 is also interchangeable. Finally, in a step 130, if necessary, data collected during the mission from the underwater vehicle 2 or from the replacement body 70, 74 are transmitted to the central operating console 82 or another external device. Thereafter, the underwater vehicle 2 is stored again at a state of charge of about 70 percent of its charge capacity or continued with step 108.

Fig. 5 as illustrated as part of step 120 of FIG Fig. 4 during a mission, a destination according to a particular embodiment of the invention can be addressed. In this case, the underwater vehicle 2 is submerged in a step 132 and navigates, for example, by means of his gyroscope. In a step 134, the underwater vehicle 2 reaches a shallow water zone in which the water depth is only a few, for example less than ten, meters.

In this shallow water zone, the underwater vehicle 2 or the replacement body 42 ', 70 having an antenna 88 receives Fig. 3 , which is fixed to underwater vehicle 2, GPS signals for satellite navigation. Possibly. the underwater vehicle 2 briefly emerges so far that the antenna sticks out of the water surface and, after receiving the satellite signals, dives back under the water surface. After that, the unmanned underwater vehicle sets in a step 138, continue its journey with updated position data. In particular, when deeper waters are reached again or when no satellite signals can be received, the underwater vehicle continues its travel controlled with measurements of the gyroscope.

Fig. 6 shows a further Austauschköper 42 "in the object destruction version, which is substantially the exchange body 42 of the embodiment according to Fig. 1 is similar, but in which the hollow charge 58 is arranged pivotably, in a side view. The explosive charge 58 is in turn disposed within the exchange body pressure shell 60. An electronic control unit 140 fixed to the explosive charge 58, together with the hollow charge 58, forms a pivotable or inclinable unit. This unit with the explosive charge 58 is pivotally mounted about a pivot axis 144 by a bearing device 142. The pivot axis 144 may alternatively be a non-objective axis. The bearing device 142 belongs to a direction of action adjustment device 145, which also has at least one setting means 146 configured as a set screw.

The hollow charge 58 can be ignited by means of the control electronics 140 and generates in the case of their ignition an energy spike, which is delivered in a targeted direction indicated by an arrow effective direction 148. By turning the adjusting screw 146, the part with the hollow charge 58 or the hollow charge and thus the direction of action 48 is pivoted or inclined according to an adjustable by means of the screw 146 pivot angle 150, which is indicated by a double arrow.

Fig. 7 , shows the underwater vehicle 2 of the embodiment according to Fig. 1 with the replacement body 42 "fixed thereto according to the embodiment Fig. 6 in a side view. In this illustration, in addition, the longitudinal axis 152 of the exchange body 42 "is shown, which coincides with the longitudinal axis of the underwater vehicle 2 and points in the direction of the bow 54 of the exchange body 42" or of the underwater vehicle 2.

The pivotable part with the blasting hollow charge 58 and with the control electronics 140 is in the representation shown opposite to the illustration in FIG Fig. 6 pivoted about the pivot axis 144. In particular, in the illustration shown, the blast hollow charge 58 is pivoted downwards or inclined by 8 degrees with respect to the longitudinal axis 152. The pivot axis 144 is a transverse axis that does not allow pivoting sideways, but up and down in angular increments of 1 degree in an angular range of up to +/- 10 degrees.

Due to the inclination of the direction of action 148 with respect to the longitudinal axis 152, the underwater vehicle 2 can align the direction of action 148 of the shaped charge 58 and thus an energy spine on a mine, which is arranged lower than the underwater vehicle 2, for example in its own horizontal orientation or in the horizontal alignment of the longitudinal axis 152 partially sunk into the ocean floor. Thus, the invention can also be used for hard to reach mines.

The invention provides a flexible underwater vehicle that can be used repeatedly with different exchange bodies and even after long storage is still operational within a very short time.

All mentioned in the foregoing description and in the claims features are used individually as well as in any combination with each other. The disclosure of the invention is therefore not limited to the described or claimed feature combinations. Rather, all feature combinations are to be regarded as disclosed.

Claims (15)

Unmanned underwater vehicle (2) having a vehicle pressure body (34) having a vehicle pressure envelope (36) and bounded by the vehicle pressure envelope (36) and having an energy storage device (32) arranged in the vehicle pressure body (34),
marked by
Fixing means (44) for fixing a replacement body (42, 70 - 80) either outside the vehicle pressure body (34) on the underwater vehicle (2), wherein the vehicle pressure body (34) by the vehicle pressure shell (36) is completely enclosed, or such on the underwater vehicle (2 in that the vehicle compression body (34) is completely enclosed together by the vehicle pressure shell (36) and the replacement body (42, 70-80), the vehicle pressure body (34) being incompletely enclosed by the vehicle pressure shell (36), and an energy supply port (34). 62) for providing electrical energy from the energy storage device (32) to at least one electrical device (56) disposed inside a replacement body pressure shell (60) of a third party variant of the replacement body (42, 70, 74, 76) in the event that the Fremdversorgungsvariante of the exchange body (42, 70, 74, 76) by means of fixing means (44) on Unterwasserfa fixed (2) and electrically connected to the power supply terminal (62). Unmanned underwater vehicle according to claim 1,
marked by
Storage means for storing a usage indicator dependent on the operating time and / or the number of missions of the underwater vehicle (2), in particular for a suggestion as to whether the underwater vehicle (2) is in a subsequent mission in conjunction with a replacement body fixed to the underwater vehicle (2) ( 70-78) in a non-object destruction version or in conjunction with a replacement body (42) fixed to the underwater vehicle (2) in an object destruction version, and calculation means for calculating this usage indicator. Unmanned underwater vehicle according to claim 1 or 2,
marked by
a power charging port (66) for charging the energy storage device (32) via said energy charging port (66), said energy charging port (66) being arranged to be in the event of no, particularly no or no explosive having, exchange body (42, 70-78) is fixed to the underwater vehicle (2), for charging for a connectable to the energy charging port (66) power supply terminal (160) is accessible, and when an explosive, in particular a blast charge, having exchange body (42) is fixed to the underwater vehicle (2), by means of the exchange body (42) is inaccessible. Exchange body for fixing to an underwater vehicle (2) according to one of claims 1 to 3 by means of the fixing means (44). Exchange body according to claim 4,
marked by
a training as object destruction version with an explosive charge (58), in particular explosive charge, and an igniter (56) and a safety device (56). Exchange body according to claim 5,
marked by
an effective direction setting device (145) for setting the effective direction (148) of the explosive charge (58), in particular blast charge, wherein the effective direction adjustment device (145) comprises: - A at least one pivot axis (144) providing bearing device (142) for pivotally supporting the explosive charge (58) and - At least one adjusting means (146), in particular an adjusting screw, for manually pivoting the explosive charge (58) about this pivot axis (144). Exchange body according to claim 4,
marked by
a training as non-object destruction version, in particular training version whose volume and mass with the exchange body (42) in the object destruction version according to claim 5 or 6 substantially coincide, but which is without charge. Exchange body according to one of claims 4 to 7,
marked by
Horizontal thrust means (96) for generating a thrust in horizontal transverse direction to the underwater vehicle (2) in the event that the exchange body (42) is fixed to the underwater vehicle (2). Exchange body according to one of claims 4 to 8,
marked by
at least one acoustic sensor (56) and / or at least one optical sensor (56) and / or at least one orientation sensor (56)
and / or at least one sensor for explosive detection, in particular in conjunction with a neutron source, and / or at least one salinity sensor and / or at least one temperature sensor and / or at least one gas detector and / or at least one light source and / or sensor equipment for locating, tracking and / or examining a pipeline, a submarine cable, or a mine. Exchange body according to one of claims 4 to 9,
marked by
an expansion energy storage device (98) for solely or assisting powering electrical devices (56) of the replacement body (42) and / or electrical equipment of the unmanned underwater vehicle. System comprising at least one unmanned underwater vehicle (2) according to one of Claims 1 to 3 and at least one replacement body (42) according to one of Claims 4 to 10. System according to claim 11, comprising at least one replacement body (42) in the object destruction version and at least one replacement body (70-78) in a non-object destruction version, in particular at least one replacement body (70, 72) in the training version and / or at least one replacement body (74). in the inspection version. System according to claim 11 or 12,
marked by
an exchange body (80) according to claim 4, which is formed as autonomous rapid charger and charging connection means (100) for charging the energy storage device (32) by means of the exchange body (80) in the case that the exchange body (80) fixed to the underwater vehicle (2) and electrically connected to the power charging port (66). Method for operating an unmanned underwater vehicle (2), in particular according to one of claims 1 to 3, comprising a vehicle pressure body (34) with the vehicle pressure body (34) limiting vehicle pressure shell (36) and in the vehicle pressure body (34) arranged energy storage device (32) .
characterized in that
a replacement body (42, 70, 74, 76) in a third-party variant, in particular according to one of claims 4 to 10, with a replacement body pressure shell (60) and at least one in the interior of the exchange body pressure shell (60) arranged electrical means (56) outside of the vehicle pressure body ( 34) is fixed to the underwater vehicle (2) and is electrically connected to the power-supply terminal (62), and the energy storage device (32) provides electrical energy to the electrical device (56) via the power-supply terminal (62). A method according to claim 14, wherein the underwater vehicle (2) carries out a mission (120) with a replacement body (70-78) fixed to the underwater vehicle (2), in particular according to one of claims 4 to 10, subsequently exchanging bodies (70-78). is removed (126), before following another mission in the vehicle pressure body (34) of the underwater vehicle (2) arranged energy storage device (32) is loaded (112, 114), subsequently the same or another identical or differently designed exchange body (42, 70 -. 78) is fixed to the underwater vehicle (2) (118) and subsequently the underwater vehicle (2) performs the further mission (120).

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