EP2838788B1 - Recovery method for the recovery of an submarine watercraft, recovery arrangement, submarine with recovery arrangement, submarine watercraft therefor and system therewith - Google Patents

Description

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.

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.

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.

In US 2010/0192831 A1 a submarine (submarine 1) is described which can suspend and also resume another underwater vehicle (secondary underwater vehicle 90). An arm (handling arm 9) is rotatably mounted on the tower (fin 3) of the submarine 1. At the free end 11 of the arm 9, a holding device (immobilizing device 12) with two clamps (clamps 13) is mounted, which can grab the vehicle 90. At the free end 11, a winch (winch 17) is further mounted, via which a cable 16 with a bell-shaped docking station (docking bell 15) can be pulled to the arm 9. The docking station 15 is capable of guiding the vehicle 90 with a means 30, for example with an acoustic transducer 31A and a light beam or laser beam 31B.

In WO 2000/071415 A1 a docking station (docking device 1) is described with a cage-like frame (cage-like frame 3), which can be connected via cable 5 with a deck 8 of a surface vessel 9. A guiding assembly 50 directs an autonomous underwater vehicle 2 into the cage-like frame 3. Other devices 52 may emit signals to and receive signals from underwater vehicle 2.

In GB 1523953 It is described how a parent ship 3 is connected by means of a cable 6 to a submersible craft 4, which is located after the seabed 2. A winch 5 aboard the surface ship 3 is able to collect and output the cable 6. On the cable 6, a ballast 7 is mounted with a transducer 9, in the underwater vehicle 4, a transducer 10, an encoder 15 and a transmitter 12 are arranged. An electronic circuit performs a control to keep the ballast 7 at a desired height relative to the underwater vehicle 4.

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 and an underwater vehicle according to claim 9, and with a submarine according to claim 10.

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).

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.

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.

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, 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 on the recovery device and the sensor on the underwater vehicle with a propagation of waves only from marks on the recovery device to the underwater vehicle is thus not provided according to this specific embodiment of the invention.

According to the invention, 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.

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.

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.

According to a further advantageous embodiment, the recovery device has the markings, in the form of a source and / or in training as reflectors of the waves, wherein the waves are sensed on the underwater vehicle.

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.

According to an alternative embodiment, the underwater vehicle has the markings. The waves are sensed at the recovery device according to this embodiment.

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.

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.

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.

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.

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.

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.

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 submersible 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 for determining 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 system according to the invention comprises the recovery device or the submarine with the recovery device and the underwater vehicle and in each case the recovery device or the means associated with the underwater vehicle for carrying out the recovery method according to the invention. The recovery device and the underwater vehicle act together.

Further embodiments of the invention will become apparent from the claims and from the embodiments explained in more detail with reference to the drawing.

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;

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;

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. 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

Fig. 6

ein Bergeverfahren zum Bergen des Unterwasserfahrzeugs mittels einer Bergevorrichtung gemäß einem Ausführungsbeispiel der Erfindung.

In the drawing show:

Fig. 1

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 embodiment of the invention in a side view;

Fig. 2

the underwater vehicle and the recovery device according to the first embodiment of Fig. 1 taken with the underwater vehicle in the recovery device in a sectional view from the side;

Fig. 3

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

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 third embodiment of the invention in a side view;

Fig. 5

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

a recovery method for recovering the underwater vehicle by means of a recovery device according to an embodiment of the invention.

Fig. 1 shows a system 2 with a recovery device 4 or with a partially shown submarine 6, which has the recovery device 4, and with an example as autonomous underwater vehicle (AUV = Autonomous Underwater Vehicle) trained unmanned underwater vehicle 8. The recovery device 4 is used for Mountains of 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.

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 communicating parts of an underwater navigation system with a second transmitter 16 arranged on the underwater vehicle 8 and with a plurality of transducers 17 arranged on 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. 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.

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 vehicle 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 shows the recovery device 4 of the first embodiment according to Fig. 1 The underwater vehicle 8 is docked to the docking device 10 or mechanically connected to the docking device 10 and is held by the substantially parallel to the longitudinal axis of the underwater vehicle 8 aligned guide rails 34. 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 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 according to Fig. 1 is 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 markers 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 for active emission 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 the FIGS. 1 and 2 be educated. 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.

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 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'.

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 to each other determines, in addition, the orientation of the underwater vehicle 8 "relative to the recovery device 4" is determined.

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 shows a system 2 "'with a recovery device 4"' of a submarine 6 "'together with an underwater vehicle 8"' in a side view. The embodiment according to Fig. 5 differs on the one hand by the embodiment according to Fig. 4 in that markings 32 "'on the underwater vehicle 8"' are designed as light sources 46 ', which thus actively generate light and are thus to be regarded as the source 18 of waves 19 in the sense of 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.

The Fig. 1-5 merely exemplify 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 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 by means of an underwater vehicle, in particular the underwater vehicle 8, 8 ', 8 ", 8"' according to one of the embodiments 1-4 of Fig. 1-5 , mission to be performed. As far as device features from systems 2, 2 ', 2 " and 2 '"according to the Figures 1-5 Reference is made, for simplicity, only the reference numerals without dashes, so for example 32 for the markers 32, 32 ', 32 "and / or 32"' used.

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 before the mission is performed, with the time and location stored in a mission plan by 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.

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.

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.

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.

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.

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.

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 Are 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.

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.

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.

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.

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.

Claims (10)

1. Recovery method for the recovery of an underwater vehicle (8) by means of a recovery device (4) for a submarine (6), which recovery device (4) has a docking device (10) for docking the underwater vehicle (8), wherein, for the specifically directed approach (60) of the underwater vehicle (8) to the docking device (10), waves (19), in particular light waves and/or sound waves (21), which propagate between the underwater vehicle (8) and the recovery device (4) from multiple markers (32) to at least one sensor (24) are sensed (96) and, as a result, an arrangement, in particular the positions and orientations, of the recovery device (4) and the underwater vehicle (8) in relation to one another is determined (82), wherein an overall propagation of the waves (19) from their source (18) to the sensor (24) includes a propagation of the waves (19) from the underwater vehicle (8) to the recovery device (4), characterized in that the markings (32) acting as reflectors (30) reflect (88) the waves (19) from their source (18) to the sensor (24).
2. Recovery method according to one of the preceding claims, wherein the markings (32) as the source (18) of the waves (19) actively generate (90) the waves (19).
3. Recovery method according to one of the preceding claims, wherein the recovery device (4) comprises the markings (32) and the waves (19) are sensed (98) on the underwater vehicle (8).
4. Recovery method according to Claim 3, wherein multiple markings (32) prescribe a path, in particular in the manner of a runway marking (48), along which the underwater vehicle (8) is guided in an oriented manner and thereby to the docking device (10).
5. Recovery method according to either of Claims 1 and 2, wherein the underwater vehicle (8) has the markings (32) and the waves (19) are sensed (100) on the recovery device (4).
6. Recovery method according to one of the preceding claims, wherein prior knowledge of a known arrangement of at least two, in particular at least three, markings (32) that are not arranged on a common straight line or at least four markings (32) that are not arranged in a common plane in relation to one another, is used for determining the arrangement of the recovery device (4) and the underwater vehicle (8) in relation to one another.
7. Recovery method according to one of the preceding claims, wherein an image, in particular a three-dimensional image, of the markings (32) is created by means of a camera (49, 22), in particular an optical and/or acoustic camera, of the sensor (24) and wherein this image is used for determining the arrangement of the underwater vehicle (8) and the recovery device (4) in relation to one another.
8. Recovery method according to one of the preceding claims, wherein, by means of the determined arrangement of the recovery device (4) and the underwater vehicle (8) in relation to one another, the underwater vehicle (8) is manoeuvred into a garage (42) of the recovery device (4) that has the docking device (10) and is received in the garage (42) .
9. 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) in relation to one another, the diving depths of the recovery device (4), in particular a submarine (6) with the recovery device (4), and of the underwater vehicle are compared with each other (80), wherein the diving depth of the underwater vehicle (8) is determined by means of measuring (76) the water pressure, and the specific vertical position is used for determining the arrangement of the recovery device (4) and the underwater vehicle (8) in relation to one another.
10. System with a recovery device (4) or with a submarine (6) with a recovery device (4) and also with an underwater vehicle (8), wherein the recovery device (4) and the underwater vehicle (8) are designed in such a way that they can interact for carrying out the recovery method (53) according to one of Claims 1 to 9.

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