EP2610163A1 - Recovery device and method for recovering condensed material on the surface of a body of water, especially an unmanned underwater vehicle - Google Patents

Recovery device and method for recovering condensed material on the surface of a body of water, especially an unmanned underwater vehicle Download PDF

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Publication number
EP2610163A1
EP2610163A1 EP20120195790 EP12195790A EP2610163A1 EP 2610163 A1 EP2610163 A1 EP 2610163A1 EP 20120195790 EP20120195790 EP 20120195790 EP 12195790 A EP12195790 A EP 12195790A EP 2610163 A1 EP2610163 A1 EP 2610163A1
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EP
European Patent Office
Prior art keywords
recovery device
hull
condensed matter
recovery
water
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Withdrawn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
EP20120195790
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German (de)
French (fr)
Inventor
Elias Skiadas
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
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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
Priority to DE201110122533 priority Critical patent/DE102011122533A1/en
Application filed by Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Publication of EP2610163A1 publication Critical patent/EP2610163A1/en
Withdrawn legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/30Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36Arrangement of ship-based loading or unloading equipment for floating cargo
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C1/00Dry-docking of vessels or flying-boats
    • B63C1/12Docks adapted for special vessels, e.g. submarines

Abstract

The device (1) has a bottom structure (14) comprising maneuvering units (20, 22) for maneuvering on a water surface (2) of a waterway (4) and a carrier device (18) for lifting the device out of the waterway by a crane of a supply ship. A salvaging receptacle (36) is fastened to the structure such that a condensed matter (6) located on the water surface is collected into the receptacle when the device is outside a range of the crane. The collected matter is stored in the receptacle when the device is maneuvered into the range of the crane and lifted together with the device out of the waterway. An independent claim is also included for a salvaging method for salvaging a condensed matter located on a water surface of a waterway.

Description

  • The invention relates to a recovery device and a recovery method for recovering condensed matter located on the water surface of a body of water, in particular for recovering an unmanned underwater vehicle.
  • In summary, the term "condensed matter" refers to objects of observation which have a rest mass in the forms of appearance as solids, as liquids or as soft matter. In particular, however, the invention relates to the recovery of an unmanned underwater vehicle, which is preferably designed as an autonomous underwater vehicle (AUV = Autonomous Underwater Vehicle), but alternatively can also be designed as a wired operating underwater vehicle (ROV = Remotely Operated Vehicle).
  • The underwater vehicle is usually launched into the water by a supply ship prior to a mission, and recovered from that supply ship after the end of the mission.
  • From such a known, trained as AUV underwater vehicle different versions are produced. A "battle version" is blown up during or after the mission and does not need to be recovered. A so-called "inspection version" and a so-called "training version" are salvaged in different ways. The inspection version of the underwater vehicle is captured by means of a net, lifted out of the water by means of a crane and brought to the deck of the supply ship. For this purpose, the underwater vehicle must maneuver in the immediate vicinity of the supply ship, which brings the risk of collision with the supply ship and thus the risk of damaging the underwater vehicle, especially in heavy seas and / or strong wind.
  • Out DE 195 44 656 C1 Although a device for recovering a floating on the water surface device, such as. An underwater vehicle, known, with the risk of damage to the underwater vehicle when recovering is reduced even in heavy seas. However, there are situations such as a low battery voltage, malfunction and / or an underwater vehicle breakdown in which the underwater vehicle can not be automatically caught by means of a net or a line. In principle, the underwater vehicle in the training version can not be obtained directly from the supply ship by means of a net or a leash, since this training version simulates an underwater vehicle in the combat version and therefore, like the underwater vehicle in the combat version, has a protective mechanism which can not be switched off for safety reasons Underwater vehicle to the supply ship at a minimum distance prevented.
  • In all these cases, where the underwater vehicle can not be retrieved directly from the supply vessel by means of a net or leash, usually a dinghy is launched with a boat crew manually capturing the submersible and returning it together with the dinghy of the supply ship brings. However, the recovery of the underwater vehicle by means of a dinghy is in many ways a dangerous undertaking, especially in heavy seas, strong winds and / or cold. For example. A collision of the submersible with the dinghy may result in damage to the submersible, damage to the dinghy, capsizing of the dinghy, and injury to the crew.
  • It is an object of the present invention to reduce the risks of recovering condensed matter located on the water surface of a body of water, in particular an unmanned underwater vehicle, and to facilitate recovery.
  • The invention solves this problem with a recovery device according to claim 1 and with a recovery method according to claim 8.
  • The invention provides a unmanned vessel as a recovery device, which is quasi interposed by the supply ship for recovering the condensed matter or the underwater vehicle. The unmanned watercraft or recovery device captures the condensed matter or underwater vehicle, whereas the condensed matter recovery device or submarine vehicle subsequently travels back to the supply ship and is captured by the supply ship and lifted out of the water.
  • The capture of the underwater vehicle by the recovery device takes place without boat crew on board the recovery device, so that a risk to persons is prevented during recovery. In addition, the underwater vehicle is protected from damage by the recovery device when the recovery device approaches the supply ship with the underwater vehicle and is lifted out of the water by the supply ship. Furthermore, the risk of a collision between the recovery device and the supply ship against a collision of the underwater vehicle with the supply ship is lower, since the recovery device with the underwater vehicle is more stable in the water due to its greater mass relative to the underwater vehicle. Finally, the recovery device can also be more easily caught by the supply ship than the underwater vehicle. The underwater vehicle is optimized for its actual purpose and thus for its movement below the water surface, which precludes optimal training to be self-contained. The recovery device, on the other hand, need not be submersible and is therefore preferably an unmanned surface watercraft that is specially designed to be recovered from the supply ship.
  • Specifically, the recovery device comprises a hull and a tethering container attached thereto. The hull again has maneuvering means for self-propelled maneuvering on the water surface of a body of water and a carrying device for lifting the watercraft by means of a crane from the water. The Bergebehältnis is designed to trap located on the water surface condensed matter in the Bergebehältnis also outside the range of the crane. Next, the Bergebehältnis is designed to store the captured matter in Bergebehältnis when maneuvering in the range of the crane. Finally, the Bergebehältnis is designed to lift the cached matter together with the vessel from the water.
  • According to the recovery method according to the invention, the vessel accordingly maneuvers itself driven on the water surface of the water, captures, especially outside the range of the crane to lift the vessel out of the water, the condensed matter in the mounted on the hull container and maneuvered into the range of the crane and Keep the captured matter in the salvage container. Finally, the crane lifts the vessel out of the water along with the matter stored in the container through the carrying device.
  • The invention is preferably not limited to the recovery of an underwater vehicle. Rather, the condensed matter is preferably a solid body, particularly a watercraft, a living or lifeless person, a buoy, a mine or debris. The retrieval container is preferably a tub, a net, a cage or a garbage bag for catching, storing and retrieving this solid body. The tub is preferably permeable to water, so that only the solid body is kept, but water can flow away, for example. When the recovery device is lifted with the solid body from the water. Furthermore, the tub may be rigid or flexible.
  • Alternatively, the condensed matter is a liquid, especially a chemical or oil. Accordingly, the container is preferably a container or a tray for trapping, storing and retrieving this liquid. The container or the tub is again rigid or flexible.
  • Thus, the invention may, for example, for the rescue of persons overboard and floating in the water, for recovering water bodies, for removal of garbage, for catching buoys or for cleaning the waters of floating on the water surface environmental toxins, such as spilled oil, are used. The Bergebehältnis is preferably selected or optimized for the particular purpose or on the nature of the condensed matter to be recovered.
  • In one embodiment of the invention, various variants of the Bergebehältnisses are provided, which can be used interchangeably for recovering different condensed matter mountains. The recovery device can thus be equipped alternately with the different variants of Bergebehältnis and used in many ways.
  • Preferably, the containment may occupy multiple positions, namely at least one trapping position having an aperture for trapping the condensed matter, and an alternatively ingestible storage position in which this trapped condensed matter aperture is closed to retain this trapped condensed matter. The condensed matter or the underwater vehicle can thus be safely stored in Bergebehältnis by changing the positions of Bergebehältnisses after recording.
  • Preferably, the recovery device has a relative to the hull of the recovery device pivotable suspension for the Bergebehältnis to change from the Einfangstellung to the Verwahrstellung the Bergebehältnisses. As the vessel floats on the surface of the body of water, the suspension is pivotable from a position below the surface of the water to a position above the surface of the water, and preferably also in the reverse direction. According to the method, the suspension pivots from the position below the water surface to the position above the water surface, so that the condensed matter can move in the water floating through the opening into the Bergebehältnis, after swinging the suspension over the water surface but caught in the Bergebehältnis or against Driving is assured.
  • Preferably, the hull has at least one float to provide static buoyancy. As a result, the recovery device as Surface watercraft, especially durable, passively held on the water surface. Even if the recovery device is unable to maneuver in the event of a defect, it will continue to float on the surface of the water.
  • Preferably, the hull has at least two of these floats, which are aligned in particular parallel to each other and can accommodate the condensed matter in their midst. Furthermore, the recovery device preferably has at least a few mutually pivotable pivot arms for folding the hull. These pivot arms are each connected to one end with the support means and with their respective other end with one of the floating body. This makes it possible to store the recovery device space saving on board the supply ship, whereas the recovery device can take a stable position on the water with spread apart pivot arms.
  • In an advantageous embodiment, the recovery device comprises damping means for damping a striking of the stored condensed matter and / or the recovery container with the stored condensed matter against the hull. The damping means are preferably arranged on the hull, particularly preferably on the floating body or on the floats. The stored in the recovery device condensed matter or the underwater vehicle therefore does not strike directly against the hull or against the or the float, but against the damping means, so that damage to the condensed matter or the underwater vehicle is counteracted during transport with the recovery device.
  • The recovery device preferably has a visual observation device for providing image data in order to monitor the capture of the condensed matter by means of this image data. The visual observation device includes, for example, a camera.
  • Preferably, the recovery device comprises a lighting device for illuminating the condensed matter in monitoring the capture. In this way, the mountains are supported in the dark.
  • Preferably, the recovery device comprises a control device for controlling the maneuvering means in dependence on provided control signals. In this way, the recovery device can be controlled remotely.
  • Preferably, the recovery device further comprises a radio communication device for receiving these control signals via radio and providing these control signals to the control device. The mountains can thus be remotely controlled by radio.
  • According to a preferred embodiment of the invention, the radio communication device is further configured to send acknowledgment signals. As a result, bidirectional communication or data exchange is possible via the radio communication device between the recovery device and, for example, a supply ship.
  • Alternatively or additionally, the radio communication device is provided for transmitting the image data provided by the visual observation device via radio. In this way, the mountains can be visually monitored remotely.
  • 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
    a trained as unmanned watercraft recovery device according to a first embodiment of the invention in a view from the front;
    Fig. 2
    the unmanned watercraft of the first embodiment of Fig. 1 in a sectional view from the side according to the section A in Fig. 1 ;
    Figure 3
    a trained as unmanned watercraft recovery device according to a second embodiment of the invention in a view from the front;
    Fig. 4
    the unmanned watercraft of the second embodiment of Fig. 3 with folded swivel arms in a view from behind and
    Fig. 5
    a block diagram illustrating a recovery method according to an embodiment of the invention.
  • Fig. 1 and Fig. 2 show an unmanned watercraft 1 as a recovery device 1 according to the invention according to a first embodiment of the invention. Fig. 1 shows the recovery device 1 in a front view, floating on the water surface 2 of a water body 4, together with a trapped underwater vehicle 6 as an example of condensed matter to be recovered.
  • The recovery device 1 is designed as a surface watercraft and has a hull 8 with two floats 10 and 12, which provide a buoyancy in the water or in the water 4, which keeps the recovery device 1 floating on the water surface 2 of the water body 4. The floats 10 and 12 are spaced from each other, arranged parallel to each other and connected to each other by means of a frame 14 above the water surface 2, so that the recovery device is designed like a catamaran and is stable in the water. On top of the frame 14, a compact boat body 16 is arranged. Furthermore, the recovery device 1 has a carrying device 18, which is arranged substantially centrally above the center of gravity of the recovery device 1 and designed as a hook. The carrying device 18 is directly or indirectly, for example via the boat body 16, connected to the frame 14 and protrudes relative to the frame 14 and the boat body 16 upwards, so that the recovery device 1, for example. By means of a einhakbaren in the carrying device 18 rope from a Crane arranged on a supply ship can be lifted out of the water 4 at a substantially horizontal orientation of the watercraft 1. The hook or the carrying device 18 is designed such that the recovery device 1 even at high seas easily can be captured and recovered, for example, that it maneuvers in the direction of a held at least locally substantially transversely to this direction substantially horizontal over the water surface 2 rope, so that the carrying device 18 hooked with this rope and said crane the recovery device by means of this Rope can lift out of the water.
  • For maneuvering on the water surface 2, the hull 8 has two maneuvering means 20 and 22 arranged under each one of the floats 10 and 12 designed as drive gondolas. The maneuvering means 20 and 22 have in their interior in the drawing, not shown energy storage devices and powered by the energy storage devices with electric motors, the propellers 24 and 26 drive.
  • According to an alternative embodiment, the maneuvering means 20 and 22 are not formed as drive gondolas, but integrated into the floats 10 and 12. Furthermore, the maneuvering means 20 and 22 may alternatively be arranged such that the bow and stern of the recovery device 1 are opposite to the illustration in FIG Fig. 1 are interchangeable, with the following mentions in the description, the names are reversed accordingly.
  • The maneuvering means 20 and 22 are controlled by an in the boat body 16 arranged control electronics or control device 28. A likewise arranged on the boat body 16 radio communication device 30 receives by means of an antenna 31, these control signals via radio, preferably from said supply ship, and provides them to the controller 28 ready. Conversely, the radio communication device 30 sends back operation signals indicative of successful receipt of the control signals back to the supply ship.
  • On the boat body 16 are designed as a camera or a camera having observation device 32 and two headlights or an example only two headlights having lighting device 34 are arranged. The camera 32 and the headlights 34 are aligned towards the bow of the recovery device and obliquely to the water surface 2, so that by means of the observation device 32 monitors the capture of the underwater vehicle 6 can be. The observation direction of the camera 32 is either fixed or adjustable, in particular pivotable. The pivoting of the observation direction takes place, for example, by motorized pivoting of the camera 32.
  • The underwater vehicle 6 located on the water surface 2, which also protrudes partially from the water surface 2 prior to capturing, can thus be visually detected by means of the observation device 32, wherein the underwater vehicle 6, in particular in the dark, is additionally illuminated by the illumination device 34 can. The observation device 32 is connected to the radio communication device 30 such that image data can be transmitted from the observation device 32 to the radio communication device 30 and from this radio communication device 30 by means of the antenna 31 to the supply ship. The capture can thus be visually monitored and controlled automatically or manually depending on the image data.
  • Alternatively or additionally, the recovery device 1 has a radar reflector and / or a responder, wherein radar signals or radio signals, in particular in distance measurements, for example over durations, are taken into account when trapping or controlling the trapping of the condensed matter.
  • In the in Fig. 1 As shown, the underwater vehicle 6 is captured and stored in a hull 36 of the recovery device 1 attached to the hull 8 and designed as a safety net. In particular, the safety net 36 is attached to the stern of the recovery device 1 on the hull 8 or on the floats 10 and 12. At the bow of the recovery device 1, the safety net 36 is attached to a suspension or to suspensions 38 and 40. The edge of the safety net 36 is designated at the bow of the recovery device 1 by the reference numeral 36a and at the rear of the recovery device 1 by the reference numeral 36b.
  • The suspensions 38 and 40 are arranged on suspension rods 42 and 44 and in the in Fig. 1 Deposit position shown 46 of the safety net 36 arranged in a position PO above the water surface 2. The edge 36 a of the safety net 36 at the bow of the recovery device 1 is therefore also arranged above the water surface 2 in the storage position 46. The underwater vehicle 6 is safely stored in this custody 46 in the safety net 36 and can thus be transported by means of the recovery device 1 to the supply ship and lifted together with the recovery device 1 from the water 4. At the floats 10 and 12 arranged damping means 47 and 48 attenuate a possibly striking the underwater vehicle 6 against the floats 10 and 12, in particular at high sea state, and reduce the risk of damaging the underwater vehicle 6. The damping means 47 and 48 preferably have for this purpose a reversibly deformable material. Damping means may alternatively or additionally be arranged on the frame 14.
  • Fig. 2 shows the recovery device or the unmanned watercraft 1 of the embodiment of Fig. 1 in a sectional view from the side according to the in Fig. 1 marked section A. Left in the Fig. 1 is the stern, the bow of the recovery device 1 arranged right. Like reference numerals designate like components.
  • In contrast to the representation according to Fig. 1 is the recovery device in Fig. 2 shown without the underwater vehicle 6. Furthermore, the Bergebehältnis or safety net 36 is shown not only in the Verwahrstellung 46, but also in a Einfangstellung 49 dashed as Bergebehältnis or safety net 36 '. The reference numerals 36 and 36 'thus denote the same safety net 36, 36' in the storage position 46 and in the Einfangstellung 49, but only one of these positions 46, 49 at the same time from the safety net 36, 36 'can be taken.
  • In the trapping position 49, the suspension 40 is arranged as a suspension 40 'in a position PU under the water surface 2 when the recovery device 1 is in the water 4. As a result, it is possible for the recovery device 1 with the floating bodies 10 and 12 to move laterally alongside the underwater vehicle 6 on both sides, thereby pulling the safety net 36 'under the underwater vehicle 6. The necessary relative movement of the recovery device 1 relative to the underwater vehicle 6 is thereby effected by the maneuvering means 20 and 22, alternatively or additionally, however, also by drives of the underwater vehicle 6.
  • In the illustrated embodiment according to Fig. 2 the change takes place between the storage position 46 and the trapping position 49 in that the suspension 40 pivots over a central position PM, in which this suspension 40, 40 'is designated by the reference numeral 40 ", relative to the hull 8 from the position PO to the position The pivoting from the storage position 46 into the trapping position 49 takes place in that the suspension rod 44 or, analogously, the suspension rod 42 pivots about a horizontal axis of rotation in the area of the floating body 12 until the suspension 40 'reaches the position PU in which the Hanger rod 44 is designated by the reference numeral 44 ', via the position PM, in which this hanger rod 44 is designated 44 ". Of course, alternative embodiments of the invention are also possible, which provide an opening OE for the underwater vehicle 6 in the safety net 36 in the area of the water surface 2, when the safety net 36 is in the Einfangstellung 49, said opening OE is closed in the storage position 46.
  • Fig. 3 shows a designed as an unmanned watercraft recovery device 1 ', which as the recovery device 1 of the first embodiment of Fig. 1 floats on the water surface 2 of the water body 4, according to a second embodiment of the invention in a view from the front. The recovery device 1 'is similar in many parts of the recovery device 1. In particular, like reference numerals designate the same or at least similar components or positions. Significant difference of the recovery device 1 'relative to the recovery device 1 is a pivotability of the floating body 10 and 12 against each other. This pivotability is achieved by a frame 14 ', which has a central frame portion 50 and two with respect to this central frame portion 50 and thus against each other pivotable pivot arms 52 and 54. In the illustration according to Fig. 3 these swivel arms 52 and 54 are spread apart, so that an arrangement of the floating body 10 and 12 results relative to each other, the arrangement of these floating bodies 10 and 12 in the recovery device 1 according to Fig. 1 like. In this arrangement, the pivot axes for the suspension rods 42 and 44, which are shown here in the Einfangstellung 49 as suspension rods 42 'and 44' to horizontally disposed and in the transverse direction of the recovery device 1 'extending pivot axes are pivotable. Accordingly, the pivotability of the results Suspension 40 'or a suspension 38', which denotes the suspension 38 in the Einfangstellung 48.
  • The pivot rods 42 and 44 or 42 'and 44' are preferably pivotable by electric motor, wherein on the floats 10 and 12 or one of the floating body 10 or 12, a drive means such as an electric motor, for example. A servomotor with gear is arranged.
  • The pivot arms 52 and 54 may also be pivotable by motor. Alternatively, however, a manual or without motor mechanically caused pivoting can be provided. Preferably, the pivot arms 52 and 54 in the in Fig. 3 shown arrangement with the central frame portion 50 can be locked so that they remain in the folded and / or spread-apart position and not automatically pivot against each other until they are actively released from this position.
  • The maneuvering means 20 and 22 are opposite to the arrangement in the recovery device 1 according to Fig. 1 not centrally under the floats 10 and 12, but in contrast to the outer sides of the recovery device 1 'arranged offset. As a result, a largely pivoting of the pivot arms 52 and 54 towards each other and thus a space-saving accommodation of the recovery device 1 'allows without the maneuvering means 20 and 22 would oppose such an arrangement or collide with each other during pivoting and could be damaged.
  • In deviation from the embodiment shown, however, the maneuvering means 20 and 22 may also be designed to be detachable from the floats 10 and 12. In this case, an arrangement of the maneuvering means 20 and 22 centrally under the float 10 and 12 according to the embodiment of Fig. 1 also in the case of a pivotability of the floating body 10 and 12 against each other advantageous. Before folding the recovery device 1 'by pivoting the floating body 10 and 12 toward each other in this case, the maneuvering or driving gondolas 20 and 22 are dismantled. Alternatively, the maneuvering means 20 and 22 may in turn be integrated in the floats 10 and 12.
  • Fig. 4 shows the recovery device or the unmanned watercraft 1 'according to the second embodiment Fig. 3 with the pivot arms 52 and 54 and the floats 10 and 12 in a position in which the recovery device 1 'can be accommodated on board the supply ship to save space. The floats 10 and 12 are still arranged parallel to each other. However, the distance from the arrangement is according to Fig. 3 between these floats 10 and 12 thereby reduced, that the floats 10 and 12 are pivoted to each other by means of the pivot arms 52 and 54 and the recovery device 1 'is collapsed. The damping means 47 and 48 in turn fulfill a protective function. In a possibly hitting against each other of the floats 10 and 12 namely they attenuate an impact and thus also protect the maneuvering means 20 and 22 from damage that could otherwise occur in the event of an undamped beating of the floats 10 and 12 against each other.
  • Preferably, the pivot arms 52 and 54 also in the in Fig. 4 shown space-saving arrangement can be locked so that they can spread apart again after releasing the lock. In a particular embodiment, the recovery device 1 'is designed such that the lock, which the recovery device 1' in the in Fig. 4 arrangement, automatically in response to a corresponding control signal triggers, which receives the radio communication device 30. Furthermore, the recovery device 1 'can be configured such that the carrying device 18 can be extended in the vertical direction relative to the central frame section 50 and is connected to a mechanism which, in the event that the recovery device 1' hangs on the carrying device 18, spreads apart Swing arms 52 and 54 and the float 10 and 12 mechanically caused by their own weight when the lock is released. In this way it is possible to relocate the recovery device 1 'in a compact arrangement on board the supply ship by means of a crane and to lift it over the water. Before the recovery device 1 'is left on the water, the lock can be released by radio, whereupon automatically by the weight of the recovery device 1' the pivot arms 52 and 54 spread and preferably in the spread position engage, so that the recovery device 1 'below stable in the water.
  • Fig. 5 FIG. 12 is a block diagram illustrating a recovery method 56 according to one embodiment of the invention. After starting in a step 58 follows in a step 60, the unfolding of the recovery device 1 'of the in Fig. 4 to the in Fig. 3 illustrated arrangement. This is done by means of a pivoting of the pivot arms 52 and 54 in a step 62. Subsequently, in a step 64, the recovery device 1 by means of a crane via a rope on which the recovery device 1 'hangs, left to water or deposited on the water surface 2. The hook or the carrying device 18 is released from the rope. Subsequently, in a step 66, a maneuvering of the recovery device 1 'away from the supply ship with the crane to the unmanned, in particular autonomous, underwater vehicle 6 to be sheltered, or towards condensed matter to be recovered, takes place.
  • Step 66 includes several steps. In particular, the recovery device 1 'during maneuvering 66 is held at the water surface 2 of the water body 4 in accordance with a step 68. This is achieved by a step 70 according to which the floats 10 and 12 provide a static lift for the recovery device 1 '. Further, the maneuvering 66 includes that the wireless communication device 30 receives control signals wirelessly and passes them to the controller 28 according to step 72, and in a step 74, the controller 28 sends back acknowledgment signals in response to the received control signals, and the recovery device 1 'is triggered by appropriate control of the Maneuvering 20 and 22 controls accordingly.
  • When the recovery device 1 'has reached the vicinity of the underwater vehicle 6, the recovery container 36 changes from the storage position 46 into the trapping position 49 or takes the recovery container 36 or trapping net according to a step 76. This step 76 includes a step 78, according to which the suspension 38, 40 pivots for the safety net 36 at the bow or stern of the recovery device 1 and the edge 36a of the safety net under the water surface 2 and thus the opening OE is opened or released.
  • This is followed by the capture of the underwater vehicle 6 or the condensed matter to be captured according to a step 80. In a step 82, an area in front of the recovery device 1 'or the underwater vehicle 6 located in front of the recovery device 1' according to a step 82 by means of the illumination device 34 illuminated. By means of the observation device 32, image data are generated in a step 84 and provided to the radio communication device 30. This image data is sent by the radio communication device 30 according to a step 86 so that it can be received aboard the supply ship and thus the capture 80 can be remotely monitored.
  • For trapping, the recovery device 1 'and the underwater vehicle 6 move towards each other frontally so that the underwater vehicle 6 moves through the opening OE, the floats 10 and 12 move past sections of the underwater vehicle 6 on either side of the underwater vehicle 6 and the frame 14' over sections of the underwater vehicle 6 and the safety net 36 'under the underwater vehicle 6 or pushes the underwater vehicle 6 through opening OE. In this case, there is preferably no contact between the recovery device 1 'and the underwater vehicle 6. Any eventual lateral impact is damped by the damping means 47 and 48.
  • For capture, either the recovery device 1 'or the underwater vehicle 6 or the recovery device 1' and the underwater vehicle 6 are driven. In this case, the recovery device 1 'move forward or forward with their bow and subsequently transported backwards or with their stern forward or in the opposite direction, the captured underwater vehicle 6 or with interchangeable assignment of bow and stern to catch backwards or with their rear move forward and subsequently transported forward or in the opposite direction, the captured underwater vehicle 6. The previous trip to the vicinity of the underwater vehicle 6 to be sheltered can take place forwards or backwards. Preferably, however, the direction of travel is reversed only for direct trapping, so that the recovery device 1 'has a preferred direction of travel, which it occupies before and after trapping. The underwater vehicle 6 is thus provided in Moving direction of this underwater vehicle 6 transported. A possibly present cable, which travels behind the underwater vehicle 6, thus emerges from the recovery device 1 'in the region of the suspension rods 42, 44 when the underwater vehicle 6 is captured, so that this cable is also behind the recovery device 1' during the subsequent transport. is pulled. The cable is thereby kept away from the screws 24, 26.
  • The trapping 80 is terminated by a step 88, according to which the recovery device 1 'transfers the tipping receptacle or tether 36' from the trapping position 49 into the storage position 46 or in which the tipping container 36 'assumes the storage position 46. The taking of the storage position 88 in turn by pivoting the suspension 38, 40 according to a step 90 from the previously assumed position PU under the water surface 2 to the position PO above the water surface 2 or by pivoting the edge 36 a of the safety net 36 in height from a position below the water surface 2 to a position above the water surface 2 for closing the opening OE achieved.
  • After the underwater vehicle 6 has been captured, the recovery device 1 'is again maneuvered in accordance with a step 66', which to a large extent equals step 66, in particular likewise has the steps 68, 70, 72 and 74. In contrast, however, the recovery device 1 'now transports the underwater vehicle 6 or the captured condensed matter and therefore additionally has a step 92 according to which the underwater vehicle 6 or the captured condensed matter is stored in the recovery container 36' of the recovery device 1 '. In this case, according to a step 94, movements of the underwater vehicle 6 against the hull 8, in particular against the floating bodies 10 and 12, are damped by means of the damping means 47 and 48. Thus maneuvers the recovery device 1 'back to the supply ship.
  • When the recovery device 1 'has reached the vicinity of the supply ship, the recovery device 1' is caught by means of a cable, with the hook or the carrying device 18 hooking into the cable. At this rope, the recovery device 1 'is subsequently removed by means of the crane according to a step 96 together with the underwater vehicle 6 stored in the recovery device 1' Water lifted. On board the supply ship, according to a step 98, the salvaged underwater object or the salvaged condensed matter is removed from the recovery device 1 ', whereby the safety net 36 is temporarily removed from the hull 8 and / or the safety net 36 is brought into the trapping position 49.
  • For example. the recovery device 1 'is lifted aboard the supply ship such that the underwater vehicle 6 finally rests on a carrying device provided for this, subsequently the hull 8 or the safety net 36' is detached from the hull 8 and from the suspensions 38 and 40 and subsequently the hull 8 or the recovery device 1 'without the safety net 36' and raised without the underwater vehicle 6 by means of the crane and is pivoted to a suitable storage space. The underwater vehicle 6 is hereafter freely accessible on the safety net 36 'and can therefore be lifted by the crane and transported to a designated storage space.
  • The recovery device 1 ', after removal 98 of the underwater vehicle 6 and before it is stored, folded according to a step 100 again. This is achieved according to a step 102 by pivoting the pivot arms 52 and 54 or by pivoting the floats 10 and 12 toward each other. Thus, the method according to a step 104 is completed.
  • Overall, the invention allows the recovery of a, in particular autonomous, underwater vehicle and other condensed matter, especially in appropriately adapted Bergebehältnissen with simple means even in adverse weather with respect to the prior art reduced risk of damage to material or injury to persons. The invention thus makes a valuable contribution to the safety of the recovery of underwater vehicles, overboard persons, lifeless persons, debris or hazardous substances floating on the surface of a body of water.
  • 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 thus not limited to those described or claimed combinations of features limited. Rather, all feature combinations are to be regarded as disclosed.

Claims (14)

  1. Recovery device for recovering condensed matter (6) located on the water surface (2) of a body of water (4), in particular an unmanned underwater vehicle,
    characterized in that
    the recovery device (1, 1 ') is an unmanned watercraft,
    which has a hull (14)
    with maneuvering means (20, 22) for self-propelled maneuvering (66, 66 ') on the water surface (2) and with a carrying device (18) for lifting (96) the watercraft (1, 1') out of the water (4) by means of a crane
    and a hull (36, 36 ') attached to the hull (8)
    for capturing (80) condensed matter (6) located on the water surface (2) into the recovery container (36, 36 ') outside the reach of the crane,
    for storing (92) the trapped matter (6) in the tipping container (36, 36 ') during maneuvering (66') into the reach of the crane and
    for lifting (96) the custody matter (6) together with the vessel (1, 1 ') out of the water (4).
  2. Recovery device according to claim 1,
    characterized in that
    the brewing container (36, 36 ') has an ingestible trapping position (49) with an opening (OE) for trapping (80) the condensed matter (6) through said opening (OE) and
    an alternatively disposable storage position (46), in which said trapped condensed matter (OE) opening (OE) is closed, for storing (92) said trapped condensed matter (6).
  3. Recovery device according to claim 2,
    marked by
    one from a position (PU), in particular below the water surface (2), to a position (PO), in particular above the water surface (2), opposite the hull (8) pivotable suspension (38, 38 ', 40, 40', 40 ") for the Bergebehältnis (36, 36 ') for changing (76, 88) of the Einfangstellung (49) in the storage position (46) of Bergebehältnisses (36, 36 ').
  4. Recovery device according to one of the preceding claims,
    characterized in that
    the hull (8) has at least one floating body (10, 12) for providing (68) static buoyancy (68) holding the vessel (1, 1 ') in maneuvering (66, 66') on the water surface (2).
  5. Recovery device according to claim 4,
    characterized in that
    the hull (8) has at least two of the floats (10, 12) and at least one pair of mutually pivotable pivot arms (52, 54) for disengagement and collapse (60, 100) of the hull (8), each with its one end with the carrying device (18) and with its other end with one of the floating body (10, 12) are connected.
  6. Recovery device according to one of the preceding claims,
    marked by
    Damping means (47, 48) for damping (94) a striking of the stored condensed matter (6) and / or the recovery container (36, 36 ') with the stored condensed matter (6) against the hull (8).
  7. Recovery device according to one of the preceding claims,
    marked by
    a visual observer (32) for providing (84) image data to monitor capturing (80) of the condensed matter (6) by means of the image data,
    an illumination device (34) for illuminating (82) the condensed matter (6) during monitoring of the capture (80),
    a control device (28) for controlling (74) the maneuvering means (20, 22) in dependence on control signals provided, and
    a radio communication device (30) for receiving (72) these control signals via radio and providing the control signals to the control device (28), for returning acknowledgment signals and for transmitting (86) the image data (84) provided by the visual observer (32) via radio ,
  8. Recovery method for recovering condensed matter (6) located on the water surface (2) of a body of water (4),
    characterized in that
    a recovery device (1, 1 ') designed as an unmanned watercraft with a hull (8), the maneuvering means (20, 22) and a carrying device (18), self-propelled on the water surface (2) maneuvered (66, 66'), out of reach of a crane for lifting (96) of the vessel (1) out of the water (4) the condensed matter (6) into a hull (36, 36 ') attached to the hull (8) (76) within range maneuvers the crane (66 ') and thereby stores the captured matter (6) in the salvage container (36, 36') (92) and the crane holds the vessel (1) together with the material stored in the salvage container (36, 36 ') ) lifts out of the water (4) by means of the carrying device (18) (96).
  9. Recovery method according to claim 8,
    characterized in that
    the brewing bin (36, 36 ') occupies a trapping position (49) in which the brewing bin (36, 36') has an opening (OE) that captures condensed matter (6) through that port (OE) ( 80), subsequently the recovery container (36, 36 ') occupies a storage position (88) (88) in which said trapped condensed matter (OE) orifice (6) is closed and the trapped condensed matter (6) in the recovery container (36, 36 ') is kept (92).
  10. Recovery method according to claim 9,
    characterized in that
    the tipping container (36, 36 ') thereby changes (76, 88) from the trapping position (49) to the storage position (46), that a pivotable suspension (38, 38', 40, 40 ', 40 ") for the container ( 36, 36 ') pivots relative to the hull (8) from a position (PU) below the water surface (2) to a position (PO) above the water surface (2) (78, 90).
  11. Recovery method according to one of claims 8 to 10,
    characterized in that
    at least one floating body (10, 12) of the hull (8) provides a static lift (70) which holds the vessel (1) in maneuvering (66, 66 ') on the water surface (2) (68).
  12. Recovery method according to one of claims 8 to 11,
    characterized in that
    at least one pair of pivot arms (52, 54) of the hull (8), each connected at one end to the support (18) and at the other end to one of the floats (10, 12), pivot against each other (62, 62; 102) to unfold or collapse the hull (8) (60, 100).
  13. Recovery method according to claim 12,
    characterized in that
    Damping means (47, 48) dampening (94) striking the stored condensed matter (6) and / or the Bergebehältnisses (36, 36 ') against the hull (8).
  14. Recovery method according to one of claims 8 to 13,
    characterized in that
    a visual observation device (32) of the vessel (1) provides image data (84) in order to monitor the capture (80) of the condensed matter (6) by means of the image data,
    a lighting device (34) of the watercraft (1, 1 ') illuminates the condensed matter (6) during monitoring of the capture (80) (82),
    - A control device (28) of the watercraft (1, 1 ') controls the maneuvering means (20, 22) in response to the control signals provided (74) and
    - A radio communication device (30) receives these control signals via radio (72) and the control device (28) and sends acknowledgment signals back and sends by means of the visual observation device (32) provided image data via radio (86).
EP20120195790 2011-12-27 2012-12-06 Recovery device and method for recovering condensed material on the surface of a body of water, especially an unmanned underwater vehicle Withdrawn EP2610163A1 (en)

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