EP2838788A1 - Recovery method for recovering an underwater vehicle, recovery device, submarine with recovery device, underwater vehicle for this purpose, and system equipped therewith - Google Patents

Recovery method for recovering an underwater vehicle, recovery device, submarine with recovery device, underwater vehicle for this purpose, and system equipped therewith

Info

Publication number
EP2838788A1
EP2838788A1 EP13712540.7A EP13712540A EP2838788A1 EP 2838788 A1 EP2838788 A1 EP 2838788A1 EP 13712540 A EP13712540 A EP 13712540A EP 2838788 A1 EP2838788 A1 EP 2838788A1
Authority
EP
European Patent Office
Prior art keywords
underwater vehicle
recovery device
recovery
submarine
markings
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.)
Granted
Application number
EP13712540.7A
Other languages
German (de)
French (fr)
Other versions
EP2838788B1 (en
Inventor
Jörg Kalwa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Publication of EP2838788A1 publication Critical patent/EP2838788A1/en
Application granted granted Critical
Publication of EP2838788B1 publication Critical patent/EP2838788B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels

Definitions

  • the invention relates to a recovery method for recovering an underwater vehicle by means of a recovery device for a submarine. Furthermore, the invention relates to this recovery device and a submarine with the recovery device. Furthermore, the invention relates to the underwater vehicle and a system with the recovery device or with the submarine and the underwater vehicle.
  • the invention has for its object to improve the recovery of an underwater vehicle in the water.
  • the invention solves this problem with a recovery method according to claim 1, with a recovery device according to claim 12, with a submarine according to claim 13, with an underwater vehicle according to claim 14 and with a system according to claim 15.
  • AUV Autonomous Underwater Vehicle
  • waves which propagate from several markings to at least one sensor between the underwater vehicle and the recovery device sensed.
  • the waves are or include in particular light waves, so for example visible light.
  • the light waves are in particular sound waves, which are preferably actively generated by a sonar device.
  • the arrangement of the recovery device and the underwater vehicle relative to each other is determined, in particular by means of a computing device.
  • the positions and orientations of the recovery device and underwater vehicle are determined relative to each other.
  • the direction, orientation and distance of the recovery device relative to the underwater vehicle or the underwater vehicle are determined relative to the recovery device.
  • the invention enables a precise approach of the AUV to the docking device of the recovery device on a course that allows the underwater vehicle to hit the docking device from a suitable angle and the risk of unintentional collisions with parts of a device carrying the recovery device, in particular with a tower of the recovery device carrying submarines, diminished.
  • the total propagation of the waves from their source, for example a light source or an active sonar, to the sensor which finally senses the waves comprises a propagation of the waves from the underwater vehicle to the recovery device.
  • An arrangement of the source at the recovery device and the sensor at the underwater vehicle with a propagation of the waves only from markings at the mountain Gevorraum to underwater vehicle is thus not provided according to this particular embodiment of the invention.
  • the markers as reflectors reflect the waves from their source to the sensor.
  • the source of the waves and the sensor are arranged on the underwater vehicle and the markings on the recovery device.
  • the source and the sensor are arranged on the recovery device and the markings on the underwater vehicle.
  • a propagation of the waves from the underwater vehicle to the recovery device occurs, namely either from the source arranged on the underwater vehicle to the markings arranged on the recovery device or from the markings arranged on the underwater vehicle to the sensor arranged on the recovery device.
  • the arrangement of the source of the waves and the sensor together on the underwater vehicle or together on the recovery device is advantageous, since the source and the sensor can be operated without any further data exchange between the underwater vehicle and the recovery device.
  • the markers actively generate the waves as a source.
  • the markings are according to this embodiment, for example, light sources such as lights or lasers or active sound sources, in particular active sonars or devices for generating water sound signals.
  • the marks formed as a source of the waves may be provided as an alternative or in addition to the marks formed as reflectors of the waves.
  • the markings and thus the source of the waves can be provided on the underwater vehicle, whereas the sensor is arranged on the recovery device.
  • waves propagate from the underwater vehicle to the recovery device.
  • the underwater vehicle has a plurality of light sources which are detected by means of a camera of the recovery device included in the sensor.
  • the formation of the markings as a source has the advantage of a radiation of the waves in high intensity, where appropriate, the direction of the radiation can be advantageously adjusted.
  • the arrangement of the sensor on the recovery device has the advantage that the determination of the arrangement of the underwater vehicle and the recovery device relative to each other or their relative positions and orientations can be done on the already existing usually powerful computing devices on the recovery device or on the submarine ,
  • the data or signals of the sensor can optionally be linked to other data or signals that are present due to generally extensive existing sensor equipment on the submarine. In this case, advantageously only control signals need to be transmitted to the underwater vehicle in order to guide the underwater vehicle to the docking device.
  • the recovery device has the markings, either in the form of a source and / or in training as reflectors of the waves, whereby the waves on the underwater vehicle are sensed.
  • markers in particular in the manner of a runway marking, provide a path along which the underwater vehicle is oriented and thereby guided to the docking device.
  • the markers are arranged individually or in pairs next to one another and in series preferably on the deck of the submarine having the recovery device. In this way, the underwater vehicle is safely routed to the docking device.
  • the underwater vehicle has the markings.
  • the waves are sensed at the recovery device according to this embodiment.
  • the waves comprise light waves or are light waves.
  • the waves comprise sound waves or sound waves, in particular a sonar.
  • the position determining means for determining the arrangement and / or the orientations of the recovery device and the underwater vehicle relative to each other draws prior knowledge of a known arrangement of at least two markings relative to one another. With different bearing angles to the markings can be with knowledge of the distance between the underwater vehicle and the recovery device thus determine the orientation or orientation of the distance.
  • the invention employs, for determining the relative arrangement, even at least three markings which are not arranged on a common line and whose arrangement is known relative to one another in order to be able to determine both the distance and the orientation and thus a complete determination of the positions and orientations of the Underwater vehicle and the recovery device to perform relative to each other.
  • the invention uses at least four markings not arranged in a common plane.
  • the senor of the recovery device has a camera, wherein an image or image of the markings is created by means of the camera.
  • a spatial image of the markings is created, so that from this image on the arrangement or the positions or orientations of the recovery device and the underwater vehicle can be closed relative to each other, in particular if the orientation of the camera attached to the underwater vehicle relative to the underwater vehicle or the camera attached to the recovery device is known relative to recovery device.
  • the camera is according to a preferred embodiment, an optical camera.
  • the camera is an acoustic camera that generates an image from water sound signals.
  • the sensor can therefore both a optical and an acoustic camera and optionally include a magnetic sensor.
  • the underwater vehicle maneuvers by means of the specific arrangement or positions and orientations of the recovery device and the underwater vehicle relative to each other to a docking device having the garage of the recovery device or a recovery device having submarine.
  • the underwater vehicle can dock either within the garage to the docking device.
  • the docking device may be designed such that it extends out of the garage, docks the underwater vehicle outside the garage to the docking device and is subsequently pulled into the garage by means of the docking device.
  • the underwater vehicle is taken up in the garage or enters the garage or is pulled into the garage.
  • the garage allows safe accommodation of the underwater vehicle, especially on a submarine.
  • the garage at the bow of the submarine, in particular spaced from a tower of the submarine, arranged.
  • the underwater vehicle may approach above the hull of the submarine between the tower and the docking facility's garage.
  • the underwater vehicle approaches the garage laterally with respect to the submarine. Thanks to the lateral approach, the danger of collisions of the underwater vehicle with superstructures on the submarine is reduced.
  • the underwater vehicle aims at the recovery device or the recovery device aims at the underwater vehicle only horizontally and not vertically, or only vertically in the case of falling below a specified minimum distance between the underwater vehicle and the recovery device.
  • only a horizontal position of the underwater vehicle and the recovery device relative to one another or a bearing angle and a distance are determined by means of aiming.
  • the diving depths of the recovery device or of the submarine with the recovery device and the underwater vehicle are compared with one another.
  • the depth of the underwater vehicle and preferably also the depth of the recovery device or the submarine are advantageously determined by measuring the water pressure.
  • the thus determined vertical position is preferably used to determine the arrangement of the underwater vehicle and the recovery device relative to each other, so that only the horizontal position has to be determined by aiming.
  • the recovery device according to the invention and the underwater vehicle according to the invention each have those of the recovery device or the means associated with the underwater vehicle for carrying out the recovery process according to the invention.
  • the recovery device and the underwater vehicle act together.
  • the submarine according to the invention comprises the recovery device according to the invention.
  • the system according to the invention has the recovery device or the submarine with the recovery device and the underwater vehicle.
  • FIG. 1 shows a system with a submarine, which has a recovery device, and with an underwater vehicle in its approach to the recovery device according to a first exemplary embodiment of the invention in a side view;
  • FIG. 2 shows the underwater vehicle and the recovery device according to the first embodiment of FIG. 1 with the underwater vehicle taken in the recovery device in a sectional view from the side;
  • FIG. 1 shows a system with a submarine, which has a recovery device, and with an underwater vehicle in its approach to the recovery device according to a first exemplary embodiment of the invention in a side view;
  • FIG. 2 shows the underwater vehicle and the recovery device according to the first embodiment of FIG. 1 with the underwater vehicle taken in the recovery device in a sectional view from the side;
  • FIG. 3 shows a system with a submarine, which has a recovery device, and with an underwater vehicle in its approach to the recovery device according to a second embodiment of the invention in a perspective view;
  • FIG. 4 is a side view of a submarine system having a recovery device and an underwater vehicle approaching the recovery device according to a third embodiment of the invention
  • FIG. 5 shows a system with a submarine, which has a recovery device, and with an underwater vehicle in its approach to the recovery device according to a fourth embodiment of the invention in a side view and
  • FIG. 6 shows a recovery method for recovering the underwater vehicle by means of a recovery device according to an embodiment of the invention.
  • the underwater vehicle 8 automatically maneuvers to the recovery device 4 and docks on this recovery device 4.
  • the recovery device 4 has a docking device 10.
  • the recovery device 4 further comprises a transponder 12 fixed to the body of the submarine 6 and a first transmitter 14, the transponder 12 and the first transmitter 14 being connected in parts to an underwater navigation system. tion with a second transmitter 16 arranged on the underwater vehicle 8 and with a plurality of transducers 17 arranged on the underwater vehicle 8.
  • the underwater vehicle 8 In addition to a drive and a control device, the underwater vehicle 8 also has an active sonar 20 or an active source of sonar waves or water sound waves 21 as source 18 of waves 19. Furthermore, the underwater vehicle 8 has an acoustic camera 22, which is part of a sensor 24 and besides hydrophones 25 has computing means 26 which process data or signals of the hydrophones 25. Finally, the underwater vehicle 8 has a water pressure sensor 28, by means of which the diving depth of the underwater vehicle 8 can be determined via the water pressure.
  • the sonar waves 21 emanating from the active sonar 20 are only shown in the vicinity of the underwater vehicle 8, but also reach the recovery device 4.
  • the sonar waves or water sound waves 21 strike marks 30 of the recovery device 4 formed as reflectors 30.
  • the markings 32 are arranged at the free ends of guide rails 34 of the docking device 10, for example.
  • the markers 32 are arranged on two horizontally adjacent guide rails in a mirror image to the left and right of a centering Z, around which the guide rails 34 are arranged radially symmetrically, the guide rails 34, forming a funnel 36, are spread apart relative to the centering Z.
  • the guide rails 34 are flexible and therefore able to bring the underwater vehicle 8 after contact without damage into the docking device 10 or to a negative shell 38 or coupling means of the docking device 10 for coupling the underwater vehicle 8 with the docking device 10 zoom.
  • the guide rails 34 are attached to the movable in the direction of the centering Z negative shell 38.
  • the negative shell 38 is adapted in shape to the bow of the underwater vehicle 8. After a contact between the underwater vehicle 8 and the negative shell 38 is made, the negative shell 38 can be moved together with the underwater vehicle 8 along the centering Z. In this case, the displacement can be done by means of a motor or a hydraulic system. Alternatively or additionally, the underwater convince 8 to move.
  • a guide ring 40 which compresses the guide rails against the underwater vehicle 8 and in the direction of the centering Z and thus closes the hopper 36, so that the underwater vehicle 8 is centered along the centering Z.
  • the underwater vehicle 8 is thus enclosed by the guide rails 34 and is held or is fixed in its position.
  • FIG. 2 shows the recovery device 4 of the first exemplary embodiment according to FIG. 1 together with the underwater vehicle 8 received by the recovery device 4.
  • the underwater vehicle 8 is docked to the docking device 10 or is mechanically connected to the docking device 10 and is moved substantially parallel to it Longitudinal axis of the underwater vehicle 8 aligned guide rails 34 held.
  • the underwater vehicle 8 is arranged in the illustrated embodiment of the recovery device 4 after its reception by the docking device 10 spaced from a body of the submarine 6, on which the recovery device 4 is arranged.
  • the negative shell 38 is guided in the region of the body of the submarine 6, is arranged within an outer shell of the submarine 6 or can be pivoted relative to this outer shell.
  • alternative embodiments of the docking device 10, for example be provided without negative shell 38.
  • FIG. 3 shows a system 2 'with a recovery device 4' of a submarine 6 'and with an underwater vehicle 8'.
  • a garage 42 with a docking device 10 'for docking or coupling by the underwater vehicle 8' and for receiving the submersible 8 'on the submarine 6' is provided.
  • the garage 42 is part of the recovery device 4 'and has a gate or opening 44, through which the underwater vehicle 8' in the garage 42, in particular in a space enclosed by walls, flooded room of the garage 42, retract.
  • markings 32 ' are arranged, which, in contrast to the markings 32 of the first embodiment of Fig.
  • active sources 18' in particular light sources 46, for the active emission of waves 19, in particular the active outside - tion of light, are formed.
  • Other light sources or lights 47 are in the manner of a runway marker 48 pairwise preferably arranged at equal intervals in front of the garage 42 on the outer shell of the submarine 6 '.
  • the docking device 10 ' may be similar to the docking device 10 according to FIGS. 1 and 2.
  • the docking device 10 ' includes, for example, nozzles for generating a positioning flow, which positions the underwater vehicle 8' when entering the garage 42.
  • the underwater vehicle 8 ' has an optical camera 49 as part of a sensor 24', preferably at its bow, by means of which the light sources 46 and 47 can be optically detected to the underwater vehicle 8 'on a designated course in the garage 42 and the docking device 10 'to conduct.
  • the submarine 6 has a tower 50.
  • a garage 42 'of the recovery device 4" is located on the bow 52 in front of the tower 50 on the deck of the submarine 6 " 18 with an active sonar 20 'and the sensor 24 "associated with an acoustic camera 22'.
  • the underwater vehicle 8 has a plurality of markings 32", which are designed as reflectors 30 ', in particular sonar reflectors, or comprise reflectors 30'.
  • the active sonar 20 ', the markers 32 "and the acoustic camera 22' act together as the underwater vehicle 8" approaches the garage 42 '.
  • water sound signals are emitted from the active sonar 20 ', hit the reflectors 30', are reflected by these reflectors 30 'and are finally sensed by the acoustic camera 22' in such a way that an image of the reflectors 30 'or the markings 32 "by means of The position of the underwater vehicle 8 "'and the recovery device 4" relative to one another is determined from this image zueinan- determines, in addition, the orientation of the underwater vehicle 8 "relative to the recovery device 4" is determined.
  • the source 18 may comprise a headlight and the sensor 24 "may comprise an optical camera or light sensors.
  • FIG. 5 shows a system 2 '' with a recovery device 4 '' of a submarine 6 '' together with an underwater vehicle 8 '' in a side view.
  • the exemplary embodiment according to FIG. 5 differs from the exemplary embodiment according to FIG. 4 in that markings 32 '' on underwater vehicle 8 '' are designed as light sources 46 ', which thus actively generate light and thus as source 18 of waves 19 in the sense of FIG to be considered the invention.
  • the recovery device 4 "'behind the tower 50 and at the rear of the submarine 6"' is arranged.
  • the recovery device 4 "' has an optical camera 49' by means of which the recovery device 4" 'creates an image of the markings 32 "' and from this the positions and orientations of the underwater vehicle 8" 'and of the submarine 6 "' or the Recovery device 4 "'relative to each other can determine.
  • Figures 1-5 illustrate, by way of example only, possible embodiments of the invention.
  • any combination of the systems 2, 2 ', 2 "and 2"' possible, for example, for the determination of the positions and / or the orientations of the underwater vehicle 8, 8 ', 8 “, 8"' and the recovery device 4, 4 ', 4 "and 4"' relative to one another, light and waterborne sound can also be provided in combination 32 "'.
  • the markings 32, 32', 32" can be embodied as reflectors or as sound sources or light sources.
  • FIGS. 1-5 shows a simplified block diagram illustrating a recovery method 53 according to an embodiment of the invention.
  • the recovery method 53 starts in a step 54 during or before a mission to be performed by means of an underwater vehicle, in particular the underwater vehicle 8, 8 ', 8 ", 8"' according to one of the embodiments 1-4 of FIGS. 1-5.
  • an underwater vehicle in particular the underwater vehicle 8, 8 ', 8 ", 8"' according to one of the embodiments 1-4 of FIGS. 1-5.
  • the reference characters without dashes ie, for example, 32 for the markings 32, 32', 32" and / or 32 "'are used for the sake of simplification.
  • a time and a place for a meeting of the underwater vehicle 8 and the recovery device 4 are set. This may be done prior to the mission, the time and location being stored in a mission plan by means of storage means of the submersible 8 on the submersible 8.
  • the underwater vehicle 8 may receive data defining a location and / or a time for such a meeting, for example by means of water sound signals.
  • the underwater vehicle 8 can receive an abort signal to cancel its mission. Possibly. With such an abort signal, a location and / or time previously specified in the mission plan is overwritten by a new location or time.
  • the underwater vehicle 8 makes an acoustic contact with the recovery device 4 or the submarine 6 according to a step 58. Subsequently, according to a step 60, the underwater vehicle 8 approaches the recovery device 4. As soon as the underwater vehicle 8 has reached the recovery device 4, this underwater vehicle 8 couples according to a step 62 to the recovery device 4 or to the docking device 10 of the recovery device 4. Thus, according to a step 64, the end of the method, as far as shown reached.
  • the step 60 includes a step 66, according to which, when approaching, the direction or the bearing angle in which the recovery device 4 is relative to the underwater vehicle 8 or the underwater vehicle 8 relative to the recovery device 4, and the removal of the recovery device 4 and of the underwater vehicle 8 are determined relative to each other.
  • the recovery device 4 aims at the underwater vehicle 8 or the underwater vehicle 8 Recovery device 4 only in the horizontal direction.
  • a step 70 a direction in the horizontal and according to a step 72, a distance is determined.
  • the direction determination is preferably carried out by means of a direction finding system, in particular a so-called USBL (Ultra Short Base Line) -peilstrom, which has a plurality of transducers or transducers.
  • the distance determination according to step 72 is preferably carried out by means of transponder signals, preferably by means of a USBL modem, which is preferably also used for data transmission.
  • the vertical position of the recovery device 4 and the underwater vehicle 8 relative to one another is determined according to step 74 by first measuring the water pressure on the underwater vehicle 8 in accordance with step 76, determining the depth of submersible 8 according to step 78 and subsequently determining the depths of the submersible Underwater vehicle 8 and the recovery device 4 and the submarine 6 are compared according to a step 80 with each other.
  • the depth of the submarine 6 or the recovery device 4 can be carried out in the same way by determining the water pressure in the respective environment or in other ways.
  • data or signals with corresponding information are exchanged between the recovery device 4 and the underwater vehicle 8.
  • the recovery device 4 or the submarine 6 can be moved with the recovery device 4.
  • the submarine 6 it may be advantageous for the submarine 6 to be stationary or stationary in the water while the underwater vehicle 8 approaches the submarine 6, in particular for a collision of the underwater vehicle 8 with the tower 50 of the submarine 6 to prevent.
  • the arrangement or the positions and orientations of the underwater vehicle 8 and the recovery device 4 are determined relative to one another. This takes place, for example, by means of light and vision, the markings 32 being designed as active light sources 46, 47 or as reflectors 30. formed light marks, which are detected by the optical camera 49.
  • the camera 49 can be provided either on the recovery device 4 or on the underwater vehicle 8. Possibly. the markers 32 are also used for determining the height, wherein a plurality of these markings 32 are arranged at different heights on the underwater vehicle 8 or on the recovery device 4.
  • the arrangement or the relative positions and orientations are determined by means of the active sonar 20, which is preferably provided on the underwater vehicle 8 and in this case as a so-called from the front of the underwater vehicle 8 looking forward or waves 19 from the front "Forward Looking Sonar” is trained.
  • the markings 32 are in this case designed as sonar reflectors, which are preferably arranged on the left and right of the garage 42 and, in particular for a vertical distance determination, also above the garage 42.
  • the aiming and the determination of the distance are preferably carried out with high resolution, in particular at a distance of the underwater vehicle 8 below the maximum distance to the recovery device 4.
  • the step 82 includes a block 84 in which, according to a step 86, a source 18, in particular a sound or light source 20, generates waves 19, in particular sound waves 21 or light, these waves 19 being reflected by the marks 32 according to a step 88 ,
  • the markers 32 are the source 18 which actively generate the waves 19.
  • the total propagation of the waves 19 thus extends from the source 18 via the markers 32 back to the sensor 24 or from the markers 32 to this sensor 24.
  • a propagation of the waves 19 from the underwater vehicle 8 to the recovery device 4 is included.
  • the block 84 is followed by the sensing of the shafts 19 according to a step 96, wherein either the shafts 19 on the underwater vehicle 8 or, according to a step 100 on the recovery device 4, are sensed according to a step 98. From thus sensed data or signals, according to a step 102, an image of the markers 32 is created.
  • the step 82 or 102 is followed by a step 104 according to which the underwater vehicle 8 is guided by means of the specific arrangement or positions and orientations of the underwater vehicle 8 and the recovery device 4 relative to each other to the docking device 10 or the garage 42 of the recovery device 4.
  • the subsequent coupling according to step 62 preferably comprises a mechanical trapping of the underwater vehicle 8 by means of the guide rails 34 spread to the hopper 36, which guide the underwater vehicle to the negative shell 38, wherein subsequently the guide rails 34 are closed by closing the funnel 36 by passing the guide rails 34 through the Guide ring 40 clasp or fix the underwater vehicle 8.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention relates to a recovery method (53) for recovering an underwater vehicle (8) using a recovery device (4) for a submarine (6). The invention further relates to the recovery device (4), the submarine (6), the underwater vehicle (8), and a system (2) comprising the recovery device (4) or the submarine (6) and comprising the underwater vehicle (8). The recovery device (4) has a docking device (10). Waves (19), in particular light waves and/or sound waves, which propagate from multiple markers to at least one sensor (24) between the underwater vehicle (8) and the recovery device (4) are sensed (96) in order to bring (60) the underwater vehicle (8) towards the docking device (10) in a controlled manner. In this manner, the positions and orientations of the recovery device (4) and the underwater vehicle (8) relative to each other are determined (82).

Description

Bergeverfahren zum Bergen eines Unterwasserfahrzeugs, Bergevorrichtung, U-Boot mit Bergevorrichtung, Unterwasserfahrzeug dafür und System damit  Recovery method for recovering an underwater vehicle, recovery device, submarine with recovery device, underwater vehicle therefor and system therewith
Die Erfindung betrifft ein Bergeverfahren zum Bergen eines Unterwasserfahrzeugs mittels einer Bergevorrichtung für ein U-Boot. Weiter betrifft die Erfindung diese Bergevorrichtung sowie ein U-Boot mit der Bergevorrichtung. Ferner betrifft die Erfindung das Unterwasserfahrzeug sowie ein System mit der Bergevorrichtung bzw. mit dem U-Boot sowie mit dem Unterwasserfahrzeug. The invention relates to a recovery method for recovering an underwater vehicle by means of a recovery device for a submarine. Furthermore, the invention relates to this recovery device and a submarine with the recovery device. Furthermore, the invention relates to the underwater vehicle and a system with the recovery device or with the submarine and the underwater vehicle.
Wiederholt für Missionen einsetzbare Unterwasserfahrzeuge werden in der Regel nach Durchführung ihrer jeweiligen Mission geborgen. Hierzu ist es bekannt, ein Unterwasserfahrzeug an die Oberfläche eines Gewässers aufschwimmen zu lassen, dort einzufangen und mittels eines Krans an Bord eines Oberflächenschiffes zu heben. Repeated submersible missions are usually salvaged after completing their mission. For this purpose, it is known to float an underwater vehicle to the surface of a body of water, capture it there and lift it by means of a crane on board a surface ship.
Ferner ist es bekannt, Unterwasserfahrzeuge im Wasser bzw. unter der Wasseroberfläche eines Gewässers mittels eines U-Bootes zu bergen. Hierfür muss kein separates Oberflächenschiff vorgesehen werden. Dies ist insbesondere dann von Vorteil, wenn das Unterwasserfahrzeug mittels eines U-Bootes ausgesetzt wurde bzw. in einer nächsten Mission ausgesetzt werden soll. Zudem wird das Bergen im Wasser im Gegensatz zum Einfangen an der Gewässeroberfläche nicht durch Wellengang an der Gewässeroberfläche erschwert. Furthermore, it is known to recover underwater vehicles in the water or under the water surface of a body of water by means of a submarine. For this, no separate surface ship must be provided. This is particularly advantageous if the underwater vehicle was exposed by means of a submarine or should be suspended in a next mission. In addition, the mountains in the water, in contrast to capturing on the surface of the water is not complicated by waves on the surface of the water.
Der Erfindung liegt die Aufgabe zugrunde, das Bergen eines Unterwasserfahrzeugs im Wasser zu verbessern. The invention has for its object to improve the recovery of an underwater vehicle in the water.
Die Erfindung löst diese Aufgabe mit einem Bergeverfahren nach Anspruch 1 , mit einer Bergevorrichtung nach Anspruch 12, mit einem U-Boot nach Anspruch 13, mit einem Unterwasserfahrzeug nach Anspruch 14 sowie mit einem System nach Anspruch 15. Das Unterwasserfahrzeug ist insbesondere ein unbemanntes Unterwasserfahrzeug, vorzugsweise ein autonomes Unterwasserfahrzeugs (AUV = Autonomous Underwater Vehicle). Die Erfindung ist jedoch auch zum Bergen kabelgebundener Unterwasserfahrzeuge (ROV = Remotely Operated Vehicle) geeignet. The invention solves this problem with a recovery method according to claim 1, with a recovery device according to claim 12, with a submarine according to claim 13, with an underwater vehicle according to claim 14 and with a system according to claim 15. The underwater vehicle is in particular an unmanned underwater vehicle, preferably an autonomous underwater vehicle (AUV = Autonomous Underwater Vehicle). However, the invention is also suitable for recovering cable-bound underwater vehicles (ROV = Remotely Operated Vehicle).
Zum zielgerichteten Annähern des Unterwasserfahrzeugs an die Andockvorrichtung werden erfindungsgemäß Wellen, die sich von mehreren Markierungen zu wenigstens einem Sensor zwischen dem Unterwasserfahrzeug und der Bergevorrichtung ausbreiten, sensiert. Die Wellen sind bzw. umfasse insbesondere Lichtwellen, also beispielsweise sichtbares Licht. Alternativ oder zusätzlich sind bzw. umfassen die Lichtwellen insbesondere Schallwellen, die vorzugsweise aktiv von einem Sonargerät erzeugt werden. For targeted approach of the underwater vehicle to the docking device according to the invention waves, which propagate from several markings to at least one sensor between the underwater vehicle and the recovery device sensed. The waves are or include in particular light waves, so for example visible light. Alternatively or additionally, the light waves are in particular sound waves, which are preferably actively generated by a sonar device.
Durch das Sensieren der Wellen bzw. mittels dadurch sensierter Signale bzw. Daten wird, insbesondere mittels einer Rechenvorrichtung, die Anordnung der Bergevorrichtung und des Unterwasserfahrzeugs relativ zueinander bestimmt. Insbesondere werden die Positionen und die Ausrichtungen der Bergevorrichtung und des Unterwasserfahrzeugs relativ zueinander bestimmt. Dabei werden die Richtung, Ausrichtung und Entfernung der Bergevorrichtung relativ zum Unterwasserfahrzeug oder des Unterwasserfahrzeugs relativ zur Bergevorrichtung bestimmt. By sensing the waves or by means of signals or data sensed thereby, the arrangement of the recovery device and the underwater vehicle relative to each other is determined, in particular by means of a computing device. In particular, the positions and orientations of the recovery device and underwater vehicle are determined relative to each other. The direction, orientation and distance of the recovery device relative to the underwater vehicle or the underwater vehicle are determined relative to the recovery device.
Die Erfindung ermöglicht ein präzises Annähern des AUVs an die Andockvorrichtung der Bergevorrichtung auf einem Kurs, der das Unterwasserfahrzeug aus einem geeigneten Winkel auf die Andockvorrichtung treffen lässt und die Gefahr von unbeabsichtigten Kollisionen mit Teilen einer die Bergevorrichtung tragenden Einrichtung, insbesondere mit einem Turm eines die Bergevorrichtung tragenden U-Boots, vermindert. The invention enables a precise approach of the AUV to the docking device of the recovery device on a course that allows the underwater vehicle to hit the docking device from a suitable angle and the risk of unintentional collisions with parts of a device carrying the recovery device, in particular with a tower of the recovery device carrying submarines, diminished.
Die Gesamtausbreitung der Wellen von ihrer Quelle, also beispielsweise einer Lichtquelle oder einem Aktivsonar, bis zu dem Sensor, der die Wellen schließlich sensiert, umfasst gemäß einer vorteilhaften Ausführungsform der Erfindung eine Ausbreitung der Wellen vom Unterwasserfahrzeug zur Bergevorrichtung. Eine Anordnung der Quelle an der Bergevorrichtung und des Sensors am Unterwasserfahrzeug bei einer Ausbreitung der Wellen nur von Markierungen an der Ber- gevorrichtung zum Unterwasserfahrzeug ist gemäß dieser speziellen Ausführungsform der Erfindung somit nicht vorgesehen. The total propagation of the waves from their source, for example a light source or an active sonar, to the sensor which finally senses the waves, according to an advantageous embodiment of the invention, comprises a propagation of the waves from the underwater vehicle to the recovery device. An arrangement of the source at the recovery device and the sensor at the underwater vehicle with a propagation of the waves only from markings at the mountain Gevorrichtung to underwater vehicle is thus not provided according to this particular embodiment of the invention.
Gemäß einer bevorzugten Ausführungsform reflektieren die Markierungen als Reflektoren die Wellen von ihrer Quelle zum Sensor. Insbesondere sind die Quelle der Wellen und der Sensor am Unterwasserfahrzeug und die Markierungen an der Bergevorrichtung angeordnet. Alternativ sind genau umgekehrt die Quelle und der Sensor an der Bergevorrichtung und die Markierungen am Unterwasserfahrzeug angeordnet. In jedem Fall erfolgt dabei eine Ausbreitung der Wellen vom Unterwasserfahrzeug zur Bergevorrichtung, nämlich entweder von der am Unterwasserfahrzeug angeordneten Quelle zu den an der Bergevorrichtung angeordneten Markierungen oder von den am Unterwasserfahrzeug angeordneten Markierungen zu dem an der Bergevorrichtung angeordneten Sensor. Die Anordnung der Quelle der Wellen und des Sensors zusammen am Unterwasserfahrzeug oder zusammen an der Bergevorrichtung ist von Vorteil, da die Quelle und der Sensor ohne weiteren Datenaustausch zwischen dem Unterwasserfahrzeug und der Bergevorrichtung aufeinander abgestimmt betrieben werden können. According to a preferred embodiment, the markers as reflectors reflect the waves from their source to the sensor. In particular, the source of the waves and the sensor are arranged on the underwater vehicle and the markings on the recovery device. Alternatively, just the opposite, the source and the sensor are arranged on the recovery device and the markings on the underwater vehicle. In any case, a propagation of the waves from the underwater vehicle to the recovery device occurs, namely either from the source arranged on the underwater vehicle to the markings arranged on the recovery device or from the markings arranged on the underwater vehicle to the sensor arranged on the recovery device. The arrangement of the source of the waves and the sensor together on the underwater vehicle or together on the recovery device is advantageous, since the source and the sensor can be operated without any further data exchange between the underwater vehicle and the recovery device.
Gemäß einer weiteren bevorzugten Ausführungsform erzeugen die Markierungen als Quelle aktiv die Wellen. Die Markierungen sind gemäß diesem Ausführungsbeispiel beispielsweise Lichtquellen wie Leuchten oder Laser oder auch aktive Schallquellen, insbesondere Aktivsonare bzw. Einrichtungen zur Erzeugung von Wasserschallsignalen. Die als Quelle der Wellen ausgebildeten Markierungen können alternativ oder zusätzlich zu den als Reflektoren der Wellen ausgebildeten Markierungen vorgesehen sein. According to another preferred embodiment, the markers actively generate the waves as a source. The markings are according to this embodiment, for example, light sources such as lights or lasers or active sound sources, in particular active sonars or devices for generating water sound signals. The marks formed as a source of the waves may be provided as an alternative or in addition to the marks formed as reflectors of the waves.
Die Markierungen und somit die Quelle der Wellen können am Unterwasserfahrzeug vorgesehen sein, wohingegen der Sensor an der Bergevorrichtung angeordnet ist. In diesem Fall findet eine Ausbreitung der Wellen vom Unterwasserfahrzeug zur Bergevorrichtung statt. Beispielsweise weist das Unterwasserfahrzeug mehrere Lichtquellen auf, die mittels einer vom Sensor umfassten Kamera der Bergevorrichtung erfasst werden. Die Ausbildung der Markierungen als Quelle hat den Vorteil einer Abstrahlung der Wellen in hoher Intensität, wobei ggf. auch die Richtung der Abstrahlung vorteilhaft eingestellt werden kann. Die Anordnung des Sensors an der Bergevorrichtung hat den Vorteil, dass das Bestimmen der Anordnung des Unterwasserfahrzeugs und der Bergevorrichtung relativ zueinander bzw. ihrer relativen Positionen und Ausrichtungen an den ohnehin in der Regel vorhandenen leistungsfähigen Recheneinrichtungen an der Bergevorrichtung bzw. am U-Boot erfolgen kann. Zudem können die Daten bzw. Signale des Sensors ggf. mit weiteren Daten bzw. Signalen, die aufgrund in der Regel umfangreich vorhandener Sensorausstattung am U-Boot vorhanden sind, verknüpft werden. An das Unterwasserfahrzeug brauchen in diesem Fall vorteilhafterweise lediglich Steuersignale übermittelt werden, um das Unterwasserfahrzeug zur Andockvorrichtung zu leiten. The markings and thus the source of the waves can be provided on the underwater vehicle, whereas the sensor is arranged on the recovery device. In this case, waves propagate from the underwater vehicle to the recovery device. For example, the underwater vehicle has a plurality of light sources which are detected by means of a camera of the recovery device included in the sensor. The formation of the markings as a source has the advantage of a radiation of the waves in high intensity, where appropriate, the direction of the radiation can be advantageously adjusted. The arrangement of the sensor on the recovery device has the advantage that the determination of the arrangement of the underwater vehicle and the recovery device relative to each other or their relative positions and orientations can be done on the already existing usually powerful computing devices on the recovery device or on the submarine , In addition, the data or signals of the sensor can optionally be linked to other data or signals that are present due to generally extensive existing sensor equipment on the submarine. In this case, advantageously only control signals need to be transmitted to the underwater vehicle in order to guide the underwater vehicle to the docking device.
Gemäß einer weiteren vorteilhaften Ausführungsform weist die Bergevorrichtung die Markierungen auf, entweder in der Ausbildung als Quelle und/oder in der Ausbildung als Reflektoren der Wellen, wobei die Wellen am Unterwasserfahrzeug sensiert werden. According to a further advantageous embodiment, the recovery device has the markings, either in the form of a source and / or in training as reflectors of the waves, whereby the waves on the underwater vehicle are sensed.
Gemäß einer Weiterbildung dieser Ausführungsform geben mehrere Markierungen, insbesondere nach Art einer Landebahnmarkierung, einen Weg vor, entlang dem sich das Unterwasserfahrzeug orientiert und dadurch zur Andockvorrichtung geführt wird. Beispielsweise sind die Markierungen einzeln oder paarweise nebeneinander und in Reihe vorzugsweise am Deck des die Bergevorrichtung aufweisenden U-Boots angeordnet. Auf diese Weise wird das Unterwasserfahrzeug sicher zur Andockvorrichtung geleitet. According to a development of this embodiment, several markings, in particular in the manner of a runway marking, provide a path along which the underwater vehicle is oriented and thereby guided to the docking device. For example, the markers are arranged individually or in pairs next to one another and in series preferably on the deck of the submarine having the recovery device. In this way, the underwater vehicle is safely routed to the docking device.
Gemäß einer alternativen Ausführungsform weist das Unterwasserfahrzeug die Markierungen auf. Die Wellen werden gemäß dieser Ausführungsform an der Bergevorrichtung sensiert. According to an alternative embodiment, the underwater vehicle has the markings. The waves are sensed at the recovery device according to this embodiment.
Gemäß einer bevorzugten Ausführungsform umfassen die Wellen Lichtwellen oder sind Lichtwellen. Gemäß einer weiteren Ausführungsform umfassen die Wellen Schallwellen oder sind Schallwellen, insbesondere eines Sonars. Gemäß einer besonderen Ausführungsform ziehen die Positionsbestimmungsmittel zum Bestimmen der Anordnung bzw. der Positionen und/oder der Ausrichtungen der Bergevorrichtung und des Unterwasserfahrzeugs relativ zueinander Vorwissen über eine bekannte Anordnung von wenigstens zwei Markierungen relativ zueinander heran. Mit unterschiedlichen Peilwinkeln zu den Markierungen lässt sich bei Kenntnis der Entfernung zwischen dem Unterwasserfahrzeug und der Bergevorrichtung somit die Ausrichtung oder bei Kenntnis der Ausrichtung die Entfernung bestimmen. Vorzugsweise zieht die Erfindung zum Bestimmen der relativen Anordnung sogar wenigstens drei nicht auf einer gemeinsamen Geraden angeordnete Markierungen heran, deren Anordnung relativ zueinander bekannt ist, um somit sowohl die Entfernung als auch die Ausrichtung ermitteln zu können und somit eine vollständige Bestimmung der Positionen und Ausrichtungen des Unterwasserfahrzeugs und der Bergevorrichtung relativ zueinander durchführen zu können. According to a preferred embodiment, the waves comprise light waves or are light waves. According to a further embodiment, the waves comprise sound waves or sound waves, in particular a sonar. According to a particular embodiment, the position determining means for determining the arrangement and / or the orientations of the recovery device and the underwater vehicle relative to each other draws prior knowledge of a known arrangement of at least two markings relative to one another. With different bearing angles to the markings can be with knowledge of the distance between the underwater vehicle and the recovery device thus determine the orientation or orientation of the distance. Preferably, the invention employs, for determining the relative arrangement, even at least three markings which are not arranged on a common line and whose arrangement is known relative to one another in order to be able to determine both the distance and the orientation and thus a complete determination of the positions and orientations of the Underwater vehicle and the recovery device to perform relative to each other.
Gemäß einer weiteren bevorzugten Ausführungsform zieht die Erfindung zur Vereinfachung der Bestimmung bzw. zur Erhöhung der Genauigkeit wenigstens vier nicht in einer gemeinsamen Ebene angeordnete Markierungen heran. According to another preferred embodiment, to simplify the determination or increase the accuracy, the invention uses at least four markings not arranged in a common plane.
Gemäß einer vorteilhaften Ausführungsform weist der Sensor der Bergevorrichtung eine Kamera auf, wobei mittels der Kamera ein Bild bzw. Abbild der Markierungen erstellt wird. Insbesondere wird ein räumliches Bild der Markierungen erstellt, so dass aus diesem Bild auf die Anordnung bzw. auf die Positionen bzw. Ausrichtungen der Bergevorrichtung und des Unterwasserfahrzeugs relativ zueinander geschlossen werden kann, insbesondere wenn die Ausrichtung der am Unterwasserfahrzeug befestigten Kamera relativ zum Unterwasserfahrzeug bzw. der an der Bergevorrichtung befestigten Kamera relativ zu Bergevorrichtung bekannt ist. According to an advantageous embodiment, the sensor of the recovery device has a camera, wherein an image or image of the markings is created by means of the camera. In particular, a spatial image of the markings is created, so that from this image on the arrangement or the positions or orientations of the recovery device and the underwater vehicle can be closed relative to each other, in particular if the orientation of the camera attached to the underwater vehicle relative to the underwater vehicle or the camera attached to the recovery device is known relative to recovery device.
Die Kamera ist gemäß einer bevorzugten Ausführungsform eine optische Kamera. Gemäß einer weiteren Ausführungsform ist die Kamera eine akustische Kamera, die aus Wasserschallsignalen ein Bild generiert. Zur Erhöhung der Genauigkeit und zur Sicherheit, falls ein System ausfallen sollte, kann die Bestimmung der Wellenpositionen und Ausrichtungen sowohl optisch als auch akustisch und ggf. zusätzlich auch magnetisch erfolgen. Der Sensor kann daher sowohl eine optische als auch eine akustische Kamera sowie ggf. einen Magnetsensor umfassen. The camera is according to a preferred embodiment, an optical camera. According to a further embodiment, the camera is an acoustic camera that generates an image from water sound signals. To increase the accuracy and safety, if a system should fail, the determination of the shaft positions and orientations can be made both optically and acoustically and possibly also magnetically. The sensor can therefore both a optical and an acoustic camera and optionally include a magnetic sensor.
Gemäß einer bevorzugten Ausführungsform manövriert das Unterwasserfahrzeug mittels der bestimmten Anordnung bzw. Positionen und Ausrichtungen der Bergevorrichtung und des Unterwasserfahrzeugs relativ zueinander zu einer die Andockvorrichtung aufweisenden Garage der Bergevorrichtung bzw. eines die Bergevorrichtung aufweisenden U-Bootes. Das Unterwasserfahrzeug kann dabei entweder innerhalb der Garage an die Andockvorrichtung andocken. Alternativ kann die Andockvorrichtung derart ausgebildet sein, dass sie aus der Garage ausfährt, das Unterwasserfahrzeug außerhalb der Garage an die Andockvorrichtung andockt und nachfolgend mittels der Andockvorrichtung in die Garage gezogen wird. In beiden Fällen wird das Unterwasserfahrzeug in der Garage aufgenommen bzw. fährt in die Garage ein oder wird in die Garage eingezogen. Die Garage erlaubt eine sichere Unterbringung des Unterwasserfahrzeugs, insbesondere an einem U-Boot. Vorteilhafterweise ist die Garage am Bug des U-Bootes, insbesondere beabstandet von einem Turm des U-Bootes, angeordnet. According to a preferred embodiment, the underwater vehicle maneuvers by means of the specific arrangement or positions and orientations of the recovery device and the underwater vehicle relative to each other to a docking device having the garage of the recovery device or a recovery device having submarine. The underwater vehicle can dock either within the garage to the docking device. Alternatively, the docking device may be designed such that it extends out of the garage, docks the underwater vehicle outside the garage to the docking device and is subsequently pulled into the garage by means of the docking device. In both cases, the underwater vehicle is taken up in the garage or enters the garage or is pulled into the garage. The garage allows safe accommodation of the underwater vehicle, especially on a submarine. Advantageously, the garage at the bow of the submarine, in particular spaced from a tower of the submarine, arranged.
Das Unterwasserfahrzeug kann sich über dem Rumpf des U-Bootes zwischen dem Turm und der Garage der Andockvorrichtung annähern. Gemäß einer besonderen Ausführungsform nähert sich das Unterwasserfahrzeug jedoch seitlich in Bezug auf das U-Boot der Garage an. Dank der seitlichen Annäherung wird die Gefahr von Kollisionen des Unterwasserfahrzeugs mit Aufbauten am U-Boot vermindert. The underwater vehicle may approach above the hull of the submarine between the tower and the docking facility's garage. However, according to a particular embodiment, the underwater vehicle approaches the garage laterally with respect to the submarine. Thanks to the lateral approach, the danger of collisions of the underwater vehicle with superstructures on the submarine is reduced.
Gemäß einer bevorzugten Ausführungsform peilt das Unterwasserfahrzeug die Bergevorrichtung bzw. peilt die Bergevorrichtung das Unterwasserfahrzeug lediglich horizontal und nicht vertikal an oder erst im Falle des Unterschreitens eines festgelegten Mindestabstandes zwischen dem Unterwasserfahrzeug und der Bergevorrichtung auch vertikal an. Mittels Peilen wird in diesem Fall lediglich eine horizontale Lage des Unterwasserfahrzeugs und der Bergevorrichtung relativ zueinander bzw. werden ein Peilwinkel sowie eine Entfernung bestimmt. Zum Bestimmen der vertikalen Lage der Bergevorrichtung und des Unterwasserfahrzeugs relativ zueinander werden daher bevorzugt die Tauchtiefen der Bergevorrichtung bzw. des U-Bootes mit der Bergevorrichtung und des Unterwasserfahrzeugs miteinander verglichen. Die Tauchtiefe des Unterwasserfahrzeugs sowie vorzugsweise auch die Tauchtiefe der Bergevorrichtung bzw. des U- Bootes werden vorteilhafterweise durch Messen des Wasserdrucks ermittelt. Dadurch ist eine ausreichend präzise Bestimmung der Lage bzw. der Relativpositionen in vertikaler Richtung möglich. Die somit bestimmte vertikale Lage wird vorzugsweise zum Bestimmen der Anordnung des Unterwasserfahrzeugs und der Bergevorrichtung relativ zueinander herangezogen, so dass durch Peilen lediglich die horizontale Lage ermittelt werden muss. According to a preferred embodiment, the underwater vehicle aims at the recovery device or the recovery device aims at the underwater vehicle only horizontally and not vertically, or only vertically in the case of falling below a specified minimum distance between the underwater vehicle and the recovery device. In this case, only a horizontal position of the underwater vehicle and the recovery device relative to one another or a bearing angle and a distance are determined by means of aiming. For determining the vertical position of the recovery device and the underwater vehicle relative to one another, therefore, preferably the diving depths of the recovery device or of the submarine with the recovery device and the underwater vehicle are compared with one another. The depth of the underwater vehicle and preferably also the depth of the recovery device or the submarine are advantageously determined by measuring the water pressure. As a result, a sufficiently precise determination of the position or the relative positions in the vertical direction is possible. The thus determined vertical position is preferably used to determine the arrangement of the underwater vehicle and the recovery device relative to each other, so that only the horizontal position has to be determined by aiming.
Die erfindungsgemäße Bergevorrichtung und das erfindungsgemäße Unterwasserfahrzeug weisen jeweils die der Bergevorrichtung bzw. die dem Unterwasserfahrzeug zugeordneten Mittel zur Durchführung des erfindungsgemäßen Bergeverfahrens auf. Die Bergevorrichtung und das Unterwasserfahrzeug wirken dabei zusammen. The recovery device according to the invention and the underwater vehicle according to the invention each have those of the recovery device or the means associated with the underwater vehicle for carrying out the recovery process according to the invention. The recovery device and the underwater vehicle act together.
Das erfindungsgemäße U-Boot weist die erfindungsgemäße Bergevorrichtung auf. The submarine according to the invention comprises the recovery device according to the invention.
Das erfindungsgemäße System weist die Bergevorrichtung bzw. das U-Boot mit der Bergevorrichtung sowie das Unterwasserfahrzeug auf. The system according to the invention has the recovery device or the submarine with the recovery device and the underwater vehicle.
Weitere Ausführungsformen der Erfindung ergeben sich aus den Ansprüchen sowie aus den anhand der Zeichnung näher erläuterten Ausführungsbeispielen. In der Zeichnung zeigen: Further embodiments of the invention 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 ein System mit einem U-Boot, das eine Bergevorrichtung aufweist, und mit einem Unterwasserfahrzeug bei seiner Annäherung an die Bergevorrichtung gemäß einem ersten Ausführungsbeispiel der Erfindung in einer Seitenansicht; Fig. 2 das Unterwasserfahrzeug und die Bergevorrichtung gemäß dem ersten Ausführungsbeispiel von Fig. 1 mit dem Unterwasserfahrzeug aufgenommen in der Bergevorrichtung in einer Schnittdarstellung von der Seite; 1 shows a system with a submarine, which has a recovery device, and with an underwater vehicle in its approach to the recovery device according to a first exemplary embodiment of the invention in a side view; FIG. 2 shows the underwater vehicle and the recovery device according to the first embodiment of FIG. 1 with the underwater vehicle taken in the recovery device in a sectional view from the side; FIG.
Fig. 3 ein System mit einem U-Boot, das eine Bergevorrichtung aufweist, und mit einem Unterwasserfahrzeug bei seiner Annäherung an die Bergevorrichtung gemäß einem zweiten Ausführungsbeispiel der Erfindung in einer perspektivischen Ansicht; 3 shows a system with a submarine, which has a recovery device, and with an underwater vehicle in its approach to the recovery device according to a second embodiment of the invention in a perspective view;
Fig. 4 ein System mit einem U-Boot, das eine Bergevorrichtung aufweist, und mit einem Unterwasserfahrzeug bei seiner Annäherung an die Bergevorrichtung gemäß einem dritten Ausführungsbeispiel der Erfindung in einer Seitenansicht ist; FIG. 4 is a side view of a submarine system having a recovery device and an underwater vehicle approaching the recovery device according to a third embodiment of the invention; FIG.
Fig. 5 ein System mit einem U-Boot, das eine Bergevorrichtung aufweist, und mit einem Unterwasserfahrzeug bei seiner Annäherung an die Bergevorrichtung gemäß einem vierten Ausführungsbeispiel der Erfindung in einer Seitenansicht und 5 shows a system with a submarine, which has a recovery device, and with an underwater vehicle in its approach to the recovery device according to a fourth embodiment of the invention in a side view and
Fig. 6 ein Bergeverfahren zum Bergen des Unterwasserfahrzeugs mittels einer Bergevorrichtung gemäß einem Ausführungsbeispiel der Erfindung. 6 shows a recovery method for recovering the underwater vehicle by means of a recovery device according to an embodiment of the invention.
Fig. 1 zeigt ein System 2 mit einer Bergevorrichtung 4 bzw. mit einem nur teilweise dargestellten U-Boot 6, das die Bergevorrichtung 4 aufweist, sowie mit einem beispielhaft als autonomes Unterwasserfahrzeug (AUV = Autonomous Underwater Vehicle) ausgebildeten unbemannten Unterwasserfahrzeug 8. Die Bergevorrichtung 4 dient zum Bergen des Unterwasserfahrzeugs 8 im Wasser bzw. unterhalb der Wasseroberfläche. Dabei manövriert das Unterwasserfahrzeug 8 selbsttätig zur Bergevorrichtung 4 und dockt an diese Bergevorrichtung 4 an. Hierfür weist die Bergevorrichtung 4 eine Andockvorrichtung 10 auf. 1 shows a system 2 with a recovery device 4 or with a submarine 6 which is only partially shown, which has the recovery device 4, as well as with an unmanned underwater vehicle 8 exemplified as an autonomous underwater vehicle (AUV = Autonomous Underwater Vehicle) 4 serves to recover the underwater vehicle 8 in the water or below the water surface. The underwater vehicle 8 automatically maneuvers to the recovery device 4 and docks on this recovery device 4. For this purpose, the recovery device 4 has a docking device 10.
Die Bergevorrichtung 4 umfasst ferner einen am Körper des U-Bootes 6 befestigten Transponder 12 sowie einen ersten Sender 14, wobei der Transponder 12 und der erste Sender 14 Teile eines Unterwassernavigationssystems in Verbin- dung mit einem am Unterwasserfahrzeug 8 angeordneten zweiten Sender 16 sowie mit mehreren am Unterwasserfahrzeug 8 angeordneten Wandlern 17 ist. The recovery device 4 further comprises a transponder 12 fixed to the body of the submarine 6 and a first transmitter 14, the transponder 12 and the first transmitter 14 being connected in parts to an underwater navigation system. tion with a second transmitter 16 arranged on the underwater vehicle 8 and with a plurality of transducers 17 arranged on the underwater vehicle 8.
Das Unterwasserfahrzeug 8 weist neben einem Antrieb und einer Steuereinrichtung ferner als Quelle 18 von Wellen 19 ein Aktivsonar 20 bzw. eine aktive Quelle von Sonarwellen bzw. Wasserschallwellen 21 auf. Weiter weist das Unterwasserfahrzeug 8 eine akustische Kamera 22 auf, die Teil eines Sensors 24 ist und neben Hydrophonen 25 Rechenmitteln 26 aufweist, welche Daten bzw. Signale der Hydrophone 25 verarbeiten. Schließlich weist das Unterwasserfahrzeug 8 einen Wasserdrucksensor 28 auf, mittels dem über den Wasserdruck die Tauchtiefe des Unterwasserfahrzeugs 8 bestimmt werden kann. In addition to a drive and a control device, the underwater vehicle 8 also has an active sonar 20 or an active source of sonar waves or water sound waves 21 as source 18 of waves 19. Furthermore, the underwater vehicle 8 has an acoustic camera 22, which is part of a sensor 24 and besides hydrophones 25 has computing means 26 which process data or signals of the hydrophones 25. Finally, the underwater vehicle 8 has a water pressure sensor 28, by means of which the diving depth of the underwater vehicle 8 can be determined via the water pressure.
Die vom Aktivsonar 20 ausgehenden Sonarwellen 21 sind lediglich im Nahbereich des Unterwasserfahrzeugs 8 dargestellt sind, erreichen jedoch auch die Bergevorrichtung 4. An der Bergevorrichtung 4 treffen die Sonarwellen bzw. Wasserschallwellen 21 auf als Reflektoren 30 ausgebildete Markierungen 32 der Bergevorrichtung 4. Die Markierungen 32 sind beispielhaft an freien Enden von Führungsleisten 34 der Andockvorrichtung 10 angeordnet. Insbesondere sind die Markierungen 32 an zwei in einer horizontalen nebeneinander liegenden Führungsleisten spiegelbildlich links und rechts von einer Zentrierachse Z angeordnet, um welche die Führungsleisten 34 radialsymmetrisch angeordnet sind, wobei die Führungsleisten 34, einen Trichter 36 bildend, gegenüber der Zentrierachse Z aufgespreizt sind. Die Führungsleisten 34 sind flexibel und daher dazu in der Lage, das Unterwasserfahrzeug 8 nach Kontakt beschädigungsfrei in die Andockvorrichtung 10 bzw. an eine Negativschale 38 bzw. an Kopplungsmittel der Andockvorrichtung 10 zum Koppeln des Unterwasserfahrzeugs 8 mit der Andockvorrichtung 10 heran zu führen. The sonar waves 21 emanating from the active sonar 20 are only shown in the vicinity of the underwater vehicle 8, but also reach the recovery device 4. At the recovery device 4, the sonar waves or water sound waves 21 strike marks 30 of the recovery device 4 formed as reflectors 30. The markings 32 are arranged at the free ends of guide rails 34 of the docking device 10, for example. In particular, the markers 32 are arranged on two horizontally adjacent guide rails in a mirror image to the left and right of a centering Z, around which the guide rails 34 are arranged radially symmetrically, the guide rails 34, forming a funnel 36, are spread apart relative to the centering Z. The guide rails 34 are flexible and therefore able to bring the underwater vehicle 8 after contact without damage into the docking device 10 or to a negative shell 38 or coupling means of the docking device 10 for coupling the underwater vehicle 8 with the docking device 10 zoom.
Die Führungsleisten 34 sind an der in Richtung der Zentrierachse Z verfahrbaren Negativschale 38 befestigt. Die Negativschale 38 ist in ihrer Form an den Bug des Unterwasserfahrzeugs 8 angepasst. Nachdem ein Kontakt zwischen dem Unterwasserfahrzeug 8 und der Negativschale 38 hergestellt ist, kann die Negativschale 38 zusammen mit dem Unterwasserfahrzeug 8 entlang der Zentrierachse Z verschoben werden. Dabei kann das Verschieben mittels eines Motors oder einer Hydraulik erfolgen. Alternativ oder zusätzlich kann das Unterwasserfahr- zeug 8 für das Verschieben sorgen. Beim Verschieben werden die Führungsleisten 34 durch einen Führungsring 40 gezogen, welcher die Führungsleisten gegen das Unterwasserfahrzeug 8 bzw. in Richtung der Zentrierachse Z zusammendrückt und damit den Trichter 36 schließt, so dass das Unterwasserfahrzeug 8 entlang der Zentrierachse Z zentriert ist. Das Unterwasserfahrzeug 8 ist somit von den Führungsleisten 34 umschlossen und wird festgehalten bzw. ist in seiner Lage fixiert. The guide rails 34 are attached to the movable in the direction of the centering Z negative shell 38. The negative shell 38 is adapted in shape to the bow of the underwater vehicle 8. After a contact between the underwater vehicle 8 and the negative shell 38 is made, the negative shell 38 can be moved together with the underwater vehicle 8 along the centering Z. In this case, the displacement can be done by means of a motor or a hydraulic system. Alternatively or additionally, the underwater convince 8 to move. When moving the guide rails 34 are pulled by a guide ring 40, which compresses the guide rails against the underwater vehicle 8 and in the direction of the centering Z and thus closes the hopper 36, so that the underwater vehicle 8 is centered along the centering Z. The underwater vehicle 8 is thus enclosed by the guide rails 34 and is held or is fixed in its position.
Fig. 2 zeigt die Bergevorrichtung 4 des ersten Ausführungsbeispiels gemäß Fig. 1 zusammen mit dem von der Bergevorrichtung 4 aufgenommenen Unterwasserfahrzeug 8. Das Unterwasserfahrzeug 8 ist an die Andockvorrichtung 10 angedockt bzw. mechanisch mit der Andockvorrichtung 10 verbunden und wird von den im Wesentlichen parallel zur Längsachse des Unterwasserfahrzeugs 8 ausgerichteten Führungsleisten 34 gehalten. Das Unterwasserfahrzeug 8 ist im gezeigten Ausführungsbeispiel der Bergevorrichtung 4 nach seiner Aufnahme durch die Andockvorrichtung 10 beabstandet von einem Körper des U-Bootes 6 angeordnet, auf dem die Bergevorrichtung 4 angeordnet ist. Jedoch sind alternative Ausführungsbeispiele denkbar, gemäß denen die Negativschale 38 im Bereich des Körpers des U-Bootes 6 geführt wird, innerhalb einer Außenhülle des U- Bootes 6 angeordnet ist oder gegenüber dieser Außenhülle verschwenkt werden kann. Auch können alternative Ausführungsformen der Andockvorrichtung 10, bspw. ohne Negativschale 38 vorgesehen sein. FIG. 2 shows the recovery device 4 of the first exemplary embodiment according to FIG. 1 together with the underwater vehicle 8 received by the recovery device 4. The underwater vehicle 8 is docked to the docking device 10 or is mechanically connected to the docking device 10 and is moved substantially parallel to it Longitudinal axis of the underwater vehicle 8 aligned guide rails 34 held. The underwater vehicle 8 is arranged in the illustrated embodiment of the recovery device 4 after its reception by the docking device 10 spaced from a body of the submarine 6, on which the recovery device 4 is arranged. However, alternative embodiments are conceivable according to which the negative shell 38 is guided in the region of the body of the submarine 6, is arranged within an outer shell of the submarine 6 or can be pivoted relative to this outer shell. Also, alternative embodiments of the docking device 10, for example, be provided without negative shell 38.
Fig. 3 zeigt ein System 2' mit einer Bergevorrichtung 4' eines U-Bootes 6' sowie mit einem Unterwasserfahrzeug 8'. Anstelle der Andockvorrichtung 10 des ersten Ausführungsbeispiels gemäß Fig. 1 ist eine Garage 42 mit einer Andockvorrichtung 10' zum Andocken bzw. Ankoppeln durch das Unterwasserfahrzeug 8' bzw. zur Aufnahme des Unterwasserfahrzeugs 8' am U-Boot 6' vorgesehen. Die Garage 42 ist Teil der Bergevorrichtung 4' und weist ein Tor bzw. eine Öffnung 44 auf, durch welche das Unterwasserfahrzeug 8' in die Garage 42, insbesondere in einen von Wänden umschlossenen, gefluteten Raum der Garage 42, einfahren kann. Beiderseits der Öffnung 44 sind Markierungen 32' angeordnet, welche im Gegensatz zu den Markierungen 32 des ersten Ausführungsbeispiels von Fig. 1 nicht als Reflektoren, sondern als aktive Ouellen 18', insbesondere Lichtquellen 46, zur aktiven Aussendung von Wellen 19, insbesondere zur aktiven Aussen- dung von Licht, ausgebildet sind. Weitere Lichtquellen bzw. Leuchten 47 sind nach Art einer Landebahnmarkierung 48 paarweise vorzugsweise in gleichen Abständen vor der Garage 42 an der Außenhülle des U-Bootes 6' angeordnet. 3 shows a system 2 'with a recovery device 4' of a submarine 6 'and with an underwater vehicle 8'. Instead of the docking device 10 of the first embodiment shown in FIG. 1, a garage 42 with a docking device 10 'for docking or coupling by the underwater vehicle 8' and for receiving the submersible 8 'on the submarine 6' is provided. The garage 42 is part of the recovery device 4 'and has a gate or opening 44, through which the underwater vehicle 8' in the garage 42, in particular in a space enclosed by walls, flooded room of the garage 42, retract. On both sides of the opening 44 markings 32 'are arranged, which, in contrast to the markings 32 of the first embodiment of Fig. 1 not as reflectors, but as active sources 18', in particular light sources 46, for the active emission of waves 19, in particular the active outside - tion of light, are formed. Other light sources or lights 47 are in the manner of a runway marker 48 pairwise preferably arranged at equal intervals in front of the garage 42 on the outer shell of the submarine 6 '.
Die Andockvorrichtung 10' kann ähnlich zur Andockvorrichtung 10 gemäß den Figuren 1 und 2 ausgebildet sein. Alternativ umfasst die Andockvorrichtung 10' beispielsweise Düsen zum Erzeugen einer Positionierungsströmung, welche das Unterwasserfahrzeug 8' beim Einfahren in die Garage 42 positioniert bzw. zentriert. The docking device 10 'may be similar to the docking device 10 according to FIGS. 1 and 2. Alternatively, the docking device 10 'includes, for example, nozzles for generating a positioning flow, which positions the underwater vehicle 8' when entering the garage 42.
Das Unterwasserfahrzeug 8' weist eine optische Kamera 49 als Teil eines Sensors 24' vorzugsweise an seinem Bug auf, mittels der die Lichtquellen 46 und 47 optisch erfasst werden können, um das Unterwasserfahrzeug 8' auf einem vorgesehenen Kurs in die Garage 42 bzw. zur Andockvorrichtung 10' zu leiten. The underwater vehicle 8 'has an optical camera 49 as part of a sensor 24', preferably at its bow, by means of which the light sources 46 and 47 can be optically detected to the underwater vehicle 8 'on a designated course in the garage 42 and the docking device 10 'to conduct.
Fig. 4 zeigt ein System 2" mit einer Bergevorrichtung 4" eines U-Bootes 6" sowie mit einem Unterwasserfahrzeug 8" in einer Seitenansicht. Das U-Boot 6" weist einen Turm 50 auf. Eine Garage 42' der Bergevorrichtung 4" ist am Bug 52 vor dem Turm 50 auf dem Deck des U-Bootes 6" angeordnet. Der Bergevorrichtung und der Garage 42' sind ferner die Quelle 18 mit einem Aktivsonar 20' und der Sensor 24" mit einer akustischen Kamera 22' zugeordnet. Das Unterwasserfahrzeug 8" weist mehrere Markierungen 32" auf, die als Reflektoren 30', insbesondere Sonarreflektoren, ausgebildet sind bzw. Reflektoren 30' umfassen. 4 shows a system 2 "with a recovery device 4" of a submarine 6 "and with an underwater vehicle 8" in a side view. The submarine 6 "has a tower 50. A garage 42 'of the recovery device 4" is located on the bow 52 in front of the tower 50 on the deck of the submarine 6 " 18 with an active sonar 20 'and the sensor 24 "associated with an acoustic camera 22'. The underwater vehicle 8 "has a plurality of markings 32", which are designed as reflectors 30 ', in particular sonar reflectors, or comprise reflectors 30'.
Das Aktivsonar 20', die Markierungen 32" und die akustische Kamera 22' wirken bei der Annäherung des Unterwasserfahrzeugs 8" an die Garage 42' zusammen. Dabei werden Wasserschallsignale vom Aktivsonar 20' emittiert, treffen auf die Reflektoren 30', werden von diesen Reflektoren 30' reflektiert und werden schließlich derart mittels der akustischen Kamera 22' sensiert, dass ein Bild der Reflektoren 30' bzw. der Markierungen 32" mittels der Bergevorrichtung 4", insbesondere mittels einer Rechenvorrichtung dieser Bergevorrichtung 4", erstellt wird. Aus diesem Bild wird die Anordnung des Unterwasserfahrzeugs 8"' und der Bergevorrichtung 4" relativ zueinander ermittelt. Insbesondere werden die Positionen des Unterwasserfahrzeugs 8" und der Bergevorrichtung 4" relativ zueinan- der bestimmt, wobei zusätzlich auch die Ausrichtung des Unterwasserfahrzeugs 8" relativ zur Bergevorrichtung 4" ermittelt wird. The active sonar 20 ', the markers 32 "and the acoustic camera 22' act together as the underwater vehicle 8" approaches the garage 42 '. In this case, water sound signals are emitted from the active sonar 20 ', hit the reflectors 30', are reflected by these reflectors 30 'and are finally sensed by the acoustic camera 22' in such a way that an image of the reflectors 30 'or the markings 32 "by means of The position of the underwater vehicle 8 "'and the recovery device 4" relative to one another is determined from this image zueinan- determines, in addition, the orientation of the underwater vehicle 8 "relative to the recovery device 4" is determined.
In Abweichung vom gezeigte Ausführungsbeispiel kann alternativ oder zusätzlich die Quelle 18 einen Scheinwerfer aufweisen und der Sensor 24" eine optische Kamera bzw. Lichtsensoren umfassen. Die Markierungen 24" sind bzw. umfassen in diesem Fall Lichtreflektoren. In a departure from the exemplary embodiment shown, alternatively or additionally, the source 18 may comprise a headlight and the sensor 24 "may comprise an optical camera or light sensors.
Fig. 5 zeigt ein System 2"' mit einer Bergevorrichtung 4"' eines U-Bootes 6"' zusammen mit einem Unterwasserfahrzeug 8"' in einer Seitenansicht. Das Ausführungsbeispiel gemäß Fig. 5 unterscheidet sich zum einen dadurch vom Ausführungsbeispiel gemäß Fig. 4, dass Markierungen 32"' am Unterwasserfahrzeug 8"' als Lichtquellen 46' ausgebildet sind, die somit aktiv Licht erzeugen und somit als Quelle 18 von Wellen 19 im Sinne der Erfindung anzusehen sind. Zum anderen ist die Bergevorrichtung 4"' hinter dem Turm 50 bzw. am Heck des U-Bootes 6"' angeordnet. Die Bergevorrichtung 4"' weist eine optische Kamera 49' auf, mittels welcher die Bergevorrichtung 4"' ein Bild der Markierungen 32"' erstellen und daraus die Positionen und Ausrichtungen des Unterwasserfahrzeugs 8"' und des U-Bootes 6"' bzw. der Bergevorrichtung 4"' relativ zueinander ermitteln kann. 5 shows a system 2 '' with a recovery device 4 '' of a submarine 6 '' together with an underwater vehicle 8 '' in a side view. The exemplary embodiment according to FIG. 5 differs from the exemplary embodiment according to FIG. 4 in that markings 32 '' on underwater vehicle 8 '' are designed as light sources 46 ', which thus actively generate light and thus as source 18 of waves 19 in the sense of FIG to be considered the invention. On the other hand, the recovery device 4 "'behind the tower 50 and at the rear of the submarine 6"' is arranged. The recovery device 4 "'has an optical camera 49' by means of which the recovery device 4" 'creates an image of the markings 32 "' and from this the positions and orientations of the underwater vehicle 8" 'and of the submarine 6 "' or the Recovery device 4 "'relative to each other can determine.
Die Fig. 1-5 veranschaulichen lediglich beispielhaft mögliche Ausführungsformen der Erfindung. Darüber hinaus sind beliebige Kombinationen der Systeme 2, 2', 2" und 2"' möglich, wobei beispielsweise für die Bestimmung der Positionen und/oder der Ausrichtungen des Unterwasserfahrzeugs 8, 8', 8", 8"' und der Bergevorrichtung 4, 4', 4" und 4"' relativ zueinander auch Licht und Wasserschall in Kombination 32"' vorgesehen sein können. Die Markierungen 32, 32', 32" können dabei als Reflektoren oder auch als Schallquellen bzw. Lichtquellen ausgebildet sein. Figures 1-5 illustrate, by way of example only, possible embodiments of the invention. In addition, any combination of the systems 2, 2 ', 2 "and 2"' possible, for example, for the determination of the positions and / or the orientations of the underwater vehicle 8, 8 ', 8 ", 8"' and the recovery device 4, 4 ', 4 "and 4"' relative to one another, light and waterborne sound can also be provided in combination 32 "'.The markings 32, 32', 32" can be embodied as reflectors or as sound sources or light sources.
Fig. 6 zeigt ein vereinfachtes Blockdiagramm zur Veranschaulichung eines Bergeverfahrens 53 gemäß einem Ausführungsbeispiel der Erfindung. Das Bergeverfahren 53 startet in einem Schritt 54 während oder vor einer mittels eines Unterwasserfahrzeugs, insbesondere des Unterwasserfahrzeugs 8, 8', 8", 8"' gemäß einem der Ausführungsbeispiele 1-4 der Fig. 1-5, durchzuführenden Mission. Soweit nachfolgend auf Vorrichtungsmerkmale aus den Systemen 2, 2', 2" und 2"' gemäß den Figuren 1-5 Bezug genommen wird, werden vereinfachend lediglich die Bezugszeichen ohne Hochstriche, also beispielsweise 32 für die Markierungen 32, 32', 32" und/oder 32"', verwendet. 6 shows a simplified block diagram illustrating a recovery method 53 according to an embodiment of the invention. The recovery method 53 starts in a step 54 during or before a mission to be performed by means of an underwater vehicle, in particular the underwater vehicle 8, 8 ', 8 ", 8"' according to one of the embodiments 1-4 of FIGS. 1-5. As far as device features from systems 2, 2 ', 2 " and 2 "'in accordance with FIGS. 1-5, only the reference characters without dashes, ie, for example, 32 for the markings 32, 32', 32" and / or 32 "'are used for the sake of simplification.
Gemäß einem Schritt 56 werden ein Zeitpunkt und ein Ort für ein Treffen des Unterwasserfahrzeugs 8 und der Bergevorrichtung 4 festgelegt. Dies kann vor Durchführung der Mission geschehen, wobei der Zeitpunkt und der Ort in einem Missionsplan mittels Speichermitteln des Unterwasserfahrzeugs 8 am Unterwasserfahrzeug 8 gespeichert werden. Alternativ oder zusätzlich kann das Unterwasserfahrzeug 8 während der Durchführung seiner Mission Daten, die einen Ort und/oder einen Zeitpunkt für ein derartiges Treffen festlegen, beispielsweise mittels Wasserschallsignalen, empfangen. Insbesondere kann das Unterwasserfahrzeug 8 ein Abbruchsignal zum Abbruch seiner Mission erhalten. Ggf. wird mit einem derartigen Abbruchsignal ein zuvor im Missionsplan festgelegter Ort und/oder Zeitpunkt durch einen neuen Ort bzw. Zeitpunkt überschrieben. According to a step 56, a time and a place for a meeting of the underwater vehicle 8 and the recovery device 4 are set. This may be done prior to the mission, the time and location being stored in a mission plan by means of storage means of the submersible 8 on the submersible 8. Alternatively or additionally, during the execution of its mission, the underwater vehicle 8 may receive data defining a location and / or a time for such a meeting, for example by means of water sound signals. In particular, the underwater vehicle 8 can receive an abort signal to cancel its mission. Possibly. With such an abort signal, a location and / or time previously specified in the mission plan is overwritten by a new location or time.
Sobald das Unterwasserfahrzeug 8 das Abbruchsignal erhalten hat oder seine Mission abbricht, um den festgelegten Ort zum vereinbarten Zeitpunkt zu erreichen, stellt das Unterwasserfahrzeug 8 gemäß einem Schritt 58 einen akustischen Kontakt zur Bergevorrichtung 4 bzw. zum U-Boot 6 her. Nachfolgend erfolgt gemäß einem Schritt 60 ein Annähern des Unterwasserfahrzeugs 8 an die Bergevorrichtung 4. Sobald das Unterwasserfahrzeug 8 die Bergevorrichtung 4 erreicht hat, koppelt dieses Unterwasserfahrzeug 8 gemäß einem Schritt 62 an die Bergevorrichtung 4 bzw. an die Andockvorrichtung 10 der Bergevorrichtung 4 an. Damit ist gemäß einem Schritt 64 das Ende des Verfahrens, soweit dargestellt, erreicht. As soon as the underwater vehicle 8 has received the termination signal or terminates its mission in order to reach the specified location at the agreed time, the underwater vehicle 8 makes an acoustic contact with the recovery device 4 or the submarine 6 according to a step 58. Subsequently, according to a step 60, the underwater vehicle 8 approaches the recovery device 4. As soon as the underwater vehicle 8 has reached the recovery device 4, this underwater vehicle 8 couples according to a step 62 to the recovery device 4 or to the docking device 10 of the recovery device 4. Thus, according to a step 64, the end of the method, as far as shown reached.
Nachfolgend wird das Annähern des Unterwasserfahrzeugs 8 an die Bergevorrichtung 4 gemäß dem Schritt 60 detaillierter beschrieben. Der Schritt 60 beinhaltet einen Schritt 66, gemäß dem beim Annähern die Richtung bzw. der Peilwinkel, in der bzw. dem sich die Bergevorrichtung 4 relativ zum Unterwasserfahrzeug 8 bzw. das Unterwasserfahrzeug 8 relativ zur Bergevorrichtung 4 befindet, sowie die Entfernung der Bergevorrichtung 4 und des Unterwasserfahrzeugs 8 relativ zueinander bestimmt werden. Dabei peilt gemäß einem Schritt 68 die Bergevorrichtung 4 das Unterwasserfahrzeug 8 bzw. das Unterwasserfahrzeug 8 die Bergevorrichtung 4 lediglich in horizontaler Richtung an. Insbesondere wird dabei gemäß einem Schritt 70 eine Richtung in der Horizontalen sowie gemäß einem Schritt 72 eine Entfernung bestimmt. Hereinafter, the approach of the underwater vehicle 8 to the recovery device 4 according to the step 60 will be described in more detail. The step 60 includes a step 66, according to which, when approaching, the direction or the bearing angle in which the recovery device 4 is relative to the underwater vehicle 8 or the underwater vehicle 8 relative to the recovery device 4, and the removal of the recovery device 4 and of the underwater vehicle 8 are determined relative to each other. In this case, according to a step 68, the recovery device 4 aims at the underwater vehicle 8 or the underwater vehicle 8 Recovery device 4 only in the horizontal direction. In particular, according to a step 70, a direction in the horizontal and according to a step 72, a distance is determined.
Die Richtungsbestimmung erfolgt vorzugsweise mittels einer Peilanlage, insbesondere einer sogenannten USBL (Ultra Short Base Line)-Peilanlage, welche mehrere Wandler bzw. Transducer aufweist. Die Entfernungsbestimmung gemäß dem Schritt 72 erfolgt vorzugsweise mittels Transpondersignalen, vorzugsweise mittels eines USBL-Modems, welches vorzugsweise auch zur Datenübertragung genutzt wird. The direction determination is preferably carried out by means of a direction finding system, in particular a so-called USBL (Ultra Short Base Line) -peilanlage, which has a plurality of transducers or transducers. The distance determination according to step 72 is preferably carried out by means of transponder signals, preferably by means of a USBL modem, which is preferably also used for data transmission.
Die vertikale Lage der Bergevorrichtung 4 und des Unterwasserfahrzeugs 8 relativ zueinander wird gemäß einem Schritt 74 dadurch bestimmt, dass zunächst gemäß einem Schritt 76 der Wasserdruck am Unterwasserfahrzeug 8 gemessen wird, daraus gemäß einem Schritt 78 die Tauchtiefe des Unterwasserfahrzeugs 8 bestimmt und nachfolgend die Tauchtiefen des Unterwasserfahrzeugs 8 und der Bergevorrichtung 4 bzw. des U-Bootes 6 gemäß einem Schritt 80 miteinander verglichen werden. Die Tauchtiefe des U-Bootes 6 bzw. der Bergevorrichtung 4 kann dabei auf gleiche Weise mittels Bestimmung des Wasserdrucks in der jeweiligen Umgebung oder auch auf andere Weise erfolgen. Zum Vergleichen der ermittelten Tauchtiefen werden Daten bzw. Signale mit einer entsprechenden Information zwischen der Bergevorrichtung 4 und dem Unterwasserfahrzeug 8 ausgetauscht. The vertical position of the recovery device 4 and the underwater vehicle 8 relative to one another is determined according to step 74 by first measuring the water pressure on the underwater vehicle 8 in accordance with step 76, determining the depth of submersible 8 according to step 78 and subsequently determining the depths of the submersible Underwater vehicle 8 and the recovery device 4 and the submarine 6 are compared according to a step 80 with each other. The depth of the submarine 6 or the recovery device 4 can be carried out in the same way by determining the water pressure in the respective environment or in other ways. To compare the detected diving depths, data or signals with corresponding information are exchanged between the recovery device 4 and the underwater vehicle 8.
Bei der Annäherung des Unterwasserfahrzeugs 8 an die Bergevorrichtung 4 kann die Bergevorrichtung 4 bzw. das U-Boot 6 mit der Bergevorrichtung 4 bewegt sein. Alternativ kann es jedoch vorteilhaft sein, das U-Boot 6 ortsfest bzw. unbewegt im Wasser stehen zu lassen, während das Unterwasserfahrzeug 8 sich an das U-Boot 6 annähert, insbesondere um eine Kollision des Unterwasserfahrzeugs 8 mit dem Turm 50 des U-Bootes 6 zu verhindern. When approaching the underwater vehicle 8 to the recovery device 4, the recovery device 4 or the submarine 6 can be moved with the recovery device 4. Alternatively, however, it may be advantageous for the submarine 6 to be stationary or stationary in the water while the underwater vehicle 8 approaches the submarine 6, in particular for a collision of the underwater vehicle 8 with the tower 50 of the submarine 6 to prevent.
Gemäß einem Schritt 82 wird die Anordnung bzw. werden die Positionen und Ausrichtungen des Unterwasserfahrzeugs 8 und der Bergevorrichtung 4 relativ zueinander bestimmt. Dies erfolgt beispielsweise mittels Licht und Sicht, wobei die Markierungen 32 als aktive Lichtquellen 46, 47 bzw. als Reflektoren 30 aus- gebildete Lichtmarkierungen sind, die mittels der optischen Kamera 49 erfasst werden. Die Kamera 49 kann dabei entweder an der Bergevorrichtung 4 oder am Unterwasserfahrzeug 8 vorgesehen sein. Ggf. werden die Markierungen 32 auch zur Höhenbestimmung herangezogen, wobei mehrere dieser Markierungen 32 in verschiedenen Höhen am Unterwasserfahrzeug 8 bzw. an der Bergevorrichtung 4 angeordnet sind. According to a step 82, the arrangement or the positions and orientations of the underwater vehicle 8 and the recovery device 4 are determined relative to one another. This takes place, for example, by means of light and vision, the markings 32 being designed as active light sources 46, 47 or as reflectors 30. formed light marks, which are detected by the optical camera 49. The camera 49 can be provided either on the recovery device 4 or on the underwater vehicle 8. Possibly. the markers 32 are also used for determining the height, wherein a plurality of these markings 32 are arranged at different heights on the underwater vehicle 8 or on the recovery device 4.
Alternativ oder zusätzlich erfolgt das Bestimmen der Anordnung bzw. der relativen Positionen und Ausrichtungen mittels des Aktivsonars 20, welches vorzugsweise am Unterwasserfahrzeug 8 vorgesehen ist und in diesem Fall als ein vom Bug des Unterwasserfahrzeugs 8 nach vorne blickendes bzw. Wellen 19 von vorne empfangendes, sogenanntes "Forward Looking Sonar" ausgebildet ist. Die Markierungen 32 sind in diesem Fall als Sonarreflektoren ausgebildet, die vorzugsweise links und rechts der Garage 42 sowie, insbesondere für eine vertikale Abstandsbestimmung, auch oberhalb der Garage 42 angeordnet sind. Alternatively or additionally, the arrangement or the relative positions and orientations are determined by means of the active sonar 20, which is preferably provided on the underwater vehicle 8 and in this case as a so-called from the front of the underwater vehicle 8 looking forward or waves 19 from the front "Forward Looking Sonar" is trained. The markings 32 are in this case designed as sonar reflectors, which are preferably arranged on the left and right of the garage 42 and, in particular for a vertical distance determination, also above the garage 42.
Alternativ oder zusätzlich wird akustisch gepeilt und ist eine akustische Kamera 22 an der Bergevorrichtung 4 oder am Unterwasserfahrzeug 8 vorgesehen. Ferner erfolgen das Peilen sowie das Bestimmen der Entfernung vorzugsweise hoch aufgelöst, insbesondere in einem unter einem Höchstabstand liegenden Abstand des Unterwasserfahrzeugs 8 zur Bergevorrichtung 4. Alternatively or additionally, it is acoustically targeted and an acoustic camera 22 is provided on the recovery device 4 or on the underwater vehicle 8. Furthermore, the aiming and the determination of the distance are preferably carried out with high resolution, in particular at a distance of the underwater vehicle 8 below the maximum distance to the recovery device 4.
Der Schritt 82 beinhaltet einen Block 84, in dem gemäß einem Schritt 86 eine Quelle 18, insbesondere Schall- oder Lichtquelle 20, Wellen 19, insbesondere Schallwellen 21 oder Licht, erzeugt, wobei diese Wellen 19 gemäß einem Schritt 88 von den Markierungen 32 reflektiert werden. Alternativ sind gemäß einem Schritt 90 die Markierungen 32 die Quelle 18, welche die Wellen 19 aktiv erzeugen. Je nach dem, ob die Markierungen 32 als Quelle 18 oder als Reflektoren 30 ausgebildet sind, erstreckt sich die Gesamtausbreitung der Wellen 19 somit von der Quelle 18 über die Markierungen 32 zurück bis zum Sensor 24 oder von den Markierungen 32 bis zu diesem Sensor 24. Vorzugsweise ist in dieser Gesamtausbreitung, veranschaulicht durch einen Schritt 94, eine Ausbreitung der Wellen 19 vom Unterwasserfahrzeug 8 zur Bergevorrichtung 4 enthalten. Auf den Block 84 folgt das Sensieren der Wellen 19 gemäß einem Schritt 96, wobei entweder gemäß einem Schritt 98 die Wellen 19 am Unterwasserfahrzeug 8 oder gemäß einem Schritt 100 an der Bergevorrichtung 4 sensiert werden. Aus somit sensierten Daten bzw. Signalen wird gemäß einem Schritt 102 ein Bild der Markierungen 32 erstellt. The step 82 includes a block 84 in which, according to a step 86, a source 18, in particular a sound or light source 20, generates waves 19, in particular sound waves 21 or light, these waves 19 being reflected by the marks 32 according to a step 88 , Alternatively, according to step 90, the markers 32 are the source 18 which actively generate the waves 19. Depending on whether the markers 32 are formed as a source 18 or as reflectors 30, the total propagation of the waves 19 thus extends from the source 18 via the markers 32 back to the sensor 24 or from the markers 32 to this sensor 24. Preferably, in this overall propagation, illustrated by a step 94, a propagation of the waves 19 from the underwater vehicle 8 to the recovery device 4 is included. The block 84 is followed by the sensing of the shafts 19 according to a step 96, wherein either the shafts 19 on the underwater vehicle 8 or, according to a step 100 on the recovery device 4, are sensed according to a step 98. From thus sensed data or signals, according to a step 102, an image of the markers 32 is created.
Auf den Schritt 82 bzw. 102 folgt ein Schritt 104, gemäß dem das Unterwasserfahrzeug 8 mittels der bestimmten Anordnung bzw. Positionen und Ausrichtungen des Unterwasserfahrzeugs 8 und der Bergevorrichtung 4 relativ zueinander zur Andockvorrichtung 10 bzw. zur Garage 42 der Bergevorrichtung 4 geführt wird. The step 82 or 102 is followed by a step 104 according to which the underwater vehicle 8 is guided by means of the specific arrangement or positions and orientations of the underwater vehicle 8 and the recovery device 4 relative to each other to the docking device 10 or the garage 42 of the recovery device 4.
Das nachfolgende Ankoppeln gemäß dem Schritt 62 umfasst vorzugsweise ein mechanisches Einfangen des Unterwasserfahrzeugs 8 mittels den zum Trichter 36 auf gespreizten Führungsleisten 34, die das Unterwasserfahrzeug zur Negativschale 38 führen, wobei nachfolgend die Führungsleisten 34 durch Schließen des Trichters 36 mittels Durchführen der Führungsleisten 34 durch den Führungsring 40 das Unterwasserfahrzeug 8 umklammern bzw. fixieren. The subsequent coupling according to step 62 preferably comprises a mechanical trapping of the underwater vehicle 8 by means of the guide rails 34 spread to the hopper 36, which guide the underwater vehicle to the negative shell 38, wherein subsequently the guide rails 34 are closed by closing the funnel 36 by passing the guide rails 34 through the Guide ring 40 clasp or fix the underwater vehicle 8.
Alle in der vorstehenden Beschreibung und in den Ansprüchen genannten Merkmale sind sowohl einzeln als auch mehreren Kombinationen miteinander einsetzbar. Die Offenbarung der Erfindung ist somit nicht auf die beschriebenen bzw. beanspruchten Merkmalskombinationen beschränkt. Vielmehr sind alle Merkmalskombinationen als offenbart zu betrachten. All mentioned in the foregoing description and in the claims features are used individually as well as several combinations 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

Ansprüche claims
Bergeverfahren zum Bergen eines Unterwasserfahrzeugs (8) mittels einer Bergevorrichtung (4) für ein U-Boot (6), die eine Andockvorrichtung (10) zum Andocken des Unterwasserfahrzeugs (8) aufweist, wobei zum zielgerichteten Annähern (60) des Unterwasserfahrzeugs (8) an die Andockvorrichtung (10) Wellen (19), insbesondere Lichtwellen und/oder Schallwellen (21 ), die sich von mehreren Markierungen (32) zu wenigstens einem Sensor (24) zwischen dem Unterwasserfahrzeug (8) und der Bergevorrichtung (4) ausbreiten, sensiert werden (96) und dadurch die Anordnung, insbesondere die Positionen und Ausrichtungen, der Bergevorrichtung (4) und des Unterwasserfahrzeugs (8) relativ zueinander bestimmt wird (82). Recovery method for recovering an underwater vehicle (8) by means of a recovery device (4) for a submarine (6), which has a docking device (10) for docking the underwater vehicle (8), wherein for purposeful approaching (60) of the underwater vehicle (8) shafts (19), in particular light waves and / or sound waves (21), which propagate from a plurality of markings (32) to at least one sensor (24) between the underwater vehicle (8) and the recovery device (4), to the docking device (10), (96) and thereby the arrangement, in particular the positions and orientations, of the recovery device (4) and of the submersible (8) relative to one another is determined (82).
Bergeverfahren nach Anspruch 1 , wobei die Gesamtausbreitung der Wellen (19) von ihrer Quelle (18) bis zum Sensor (24) eine Ausbreitung der Wellen (19) vom Unterwasserfahrzeug (8) zur Bergevorrichtung (4) um- fasst. The recovery method of claim 1, wherein the total propagation of the shafts (19) from their source (18) to the sensor (24) comprises propagation of the shafts (19) from the underwater vehicle (8) to the recovery device (4).
Bergeverfahren nach Anspruch 1 oder 2, wobei die Markierungen (32) als Reflektoren (30) die Wellen (19) von ihrer Quelle (18) zum Sensor (24) reflektieren (88). The mining method of claim 1 or 2, wherein the markers (32) reflectors (30) reflect the waves (19) from their source (18) to the sensor (24) (88).
Bergeverfahren nach einem der vorherigen Ansprüche, wobei die Markierungen (32) als Quelle (18) der Wellen (19) aktiv die Wellen (19) erzeugen (90). A mining method according to any one of the preceding claims, wherein the markers (32) as source (18) of the shafts (19) actively generate the shafts (19) (90).
Bergeverfahren nach einem der vorherigen Ansprüche, wobei die Bergevorrichtung (4) die Markierungen (32) aufweist und die Wellen (19) am Unterwasserfahrzeug (8) sensiert werden (98). Recovery method according to one of the preceding claims, wherein the recovery device (4) has the markings (32) and the shafts (19) on the underwater vehicle (8) are sensed (98).
Bergeverfahren nach Anspruch 5, wobei mehrere Markierungen (32), insbesondere nach Art einer Landebahnmarkierung (48), einen Weg vorgeben, entlang dem sich das Unterwasserfahrzeug (8) orientiert und dadurch zur Andockvorrichtung (10) geführt wird. Bergeverfahren nach einem der Ansprüche 1-4, wobei das Unterwasserfahrzeug (8) die Markierungen (32) aufweist und die Wellen (19) an der Bergevorrichtung (4) sensiert werden (100). Recovery method according to claim 5, wherein a plurality of markings (32), in particular in the manner of a runway marking (48), specify a path along which the underwater vehicle (8) is oriented and thereby guided to the docking device (10). A recovery method according to any one of claims 1-4, wherein the underwater vehicle (8) has the markings (32) and the shafts (19) on the recovery device (4) are sensed (100).
Bergeverfahren nach einem der vorherigen Ansprüche, wobei zum Bestimmen der Anordnung der Bergevorrichtung (4) und des Unterwasserfahrzeugs (8) relativ zueinander Vorwissen über eine bekannte Anordnung von wenigstens zwei, insbesondere wenigstens drei nicht auf einer gemeinsamen Geraden angeordneten oder wenigstens vier nicht in einer gemeinsamen Ebene angeordneten, Markierungen (32) relativ zueinander herangezogen wird. Recovery method according to one of the preceding claims, wherein for determining the arrangement of the recovery device (4) and the underwater vehicle (8) relative to each other prior knowledge of a known arrangement of at least two, in particular at least three not arranged on a common line or at least four not in a common Level arranged, markers (32) is used relative to each other.
Bergeverfahren nach einem der vorherigen Ansprüche, wobei mittels einer, insbesondere optischen und/oder akustischen, Kamera (49, 22) des Sensors (24) ein, insbesondere räumliches, Bild der Markierungen (32) erstellt wird und dieses Bild zum Bestimmen der Anordnung des Unterwasserfahrzeugs 8 und der Bergevorrichtung 4 relativ zueinander herangezogen wird. Recovery method according to one of the preceding claims, wherein by means of a, in particular optical and / or acoustic, camera (49, 22) of the sensor (24) an, in particular spatial, image of the markings (32) is created and this image for determining the arrangement of the Underwater vehicle 8 and the recovery device 4 is used relative to each other.
Bergeverfahren nach einem der vorherigen Ansprüche, wobei das Unterwasserfahrzeug (8) mittels der bestimmten Anordnung der Bergevorrichtung (4) und des Unterwasserfahrzeugs (8) relativ zueinander zu einer die Andockvorrichtung (10) aufweisenden Garage (42) der Bergevorrichtung (4) manövriert und in der Garage (42) aufgenommen wird. Recovery method according to one of the preceding claims, wherein the underwater vehicle (8) by means of the specific arrangement of the recovery device (4) and the underwater vehicle (8) relative to each other to a docking device (10) having garage (42) of the recovery device (4) maneuvers and in the garage (42) is taken.
Bergeverfahren nach einem der vorherigen Ansprüche, wobei zum Bestimmen (74) der vertikalen Lage der Bergevorrichtung (4) und des Unterwasserfahrzeugs (8) relativ zueinander die Tauchtiefen der Bergevorrichtung (4), insbesondere eines U-Bootes (6) mit der Bergevorrichtung (4), und des Unterwasserfahrzeugs miteinander verglichen werden (80), wobei die Tauchtiefe des Unterwasserfahrzeugs (8) mittels Messen (76) des Wasserdrucks ermittelt wird, und die bestimmte vertikale Lage zum Bestimmen der Anordnung der Bergevorrichtung (4) und des Unterwasserfahrzeugs (8) relativ zueinander herangezogen wird. Recovery method according to one of the preceding claims, wherein for determining (74) the vertical position of the recovery device (4) and the underwater vehicle (8) relative to one another the diving depths of the recovery device (4), in particular a submarine (6) with the recovery device (4 ), and the underwater vehicle (80), wherein the depth of the submersible (8) is determined by measuring (76) the water pressure, and the determined vertical position for determining the arrangement of the recovery device (4) and the underwater vehicle (8) is used relative to each other.
12. Bergevorrichtung mit Mitteln zur Durchführung des Bergeverfahrens (53) nach einem der vorherigen Ansprüche im Zusammenwirken mit einem Unterwasserfahrzeug (8), insbesondere nach Anspruch 14. 12. recovery device with means for carrying out the recovery method (53) according to one of the preceding claims in cooperation with an underwater vehicle (8), in particular according to claim 14.
13. U-Boot mit der Bergevorrichtung nach Anspruch 12. 13. U-boat with the recovery device according to claim 12.
14. Unterwasserfahrzeug mit Mitteln zur Durchführung des Bergeverfahrens (53) nach einem der Ansprüche 1-1 1 im Zusammenwirken mit einer Bergevorrichtung (4), insbesondere nach Anspruch 12, oder mit einem U-Boot (6), insbesondere nach Anspruch 13. 14. underwater vehicle with means for carrying out the recovery method (53) according to any one of claims 1-1 1 in cooperation with a recovery device (4), in particular according to claim 12, or with a submarine (6), in particular according to claim 13.
15. System mit einer Bergevorrichtung (4), insbesondere nach Anspruch 12, oder mit einem U-Boot (6), insbesondere nach Anspruch 13, mit einer Bergevorrichtung (4), sowie mit einem Unterwasserfahrzeug (8), insbesondere nach Anspruch 14, wobei die Bergevorrichtung (4) und das Unterwasserfahrzeug (8) derart ausgebildet sind, dass sie zur Durchführung des Bergeverfahrens (53) nach einem der Ansprüche 1 bis 1 1 zusammenwirken können. 15. System with a recovery device (4), in particular according to claim 12, or with a submarine (6), in particular according to claim 13, with a recovery device (4), and with an underwater vehicle (8), in particular according to claim 14, wherein the recovery device (4) and the underwater vehicle (8) are designed such that they can cooperate for carrying out the recovery method (53) according to one of claims 1 to 1 1.
EP13712540.7A 2012-04-20 2013-03-25 Recovery method for the recovery of an submarine watercraft, recovery arrangement, submarine with recovery arrangement, submarine watercraft therefor and system therewith Active EP2838788B1 (en)

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