EP3180241A1

EP3180241A1 - Launching device and submarine vehicle

Info

Publication number: EP3180241A1
Application number: EP15749972.4A
Authority: EP
Inventors: Detlef Lambertus
Original assignee: Atlas Elektronik GmbH
Current assignee: Atlas Elektronik GmbH
Priority date: 2014-08-12
Filing date: 2015-06-26
Publication date: 2017-06-21
Anticipated expiration: 2035-06-26
Also published as: US20170233047A1; DE102014111488A1; US10259549B2; EP3180241B1; WO2016023538A1

Abstract

The invention relates to a launching device (101) for an unmanned submarine vehicle, in particular for an autonomous submarine vehicle or for a vehicle that is operated in a remote-controlled manner, having a launching tube (105) which has an inner wall (107) and an outlet (271), and the unmanned submarine vehicle located in the launching tube, wherein the unmanned submarine vehicle has a vehicle shell with vehicle-shell inhomogeneity (133, 135, 137, 143, 145), such that ejection of the unmanned submarine vehicle causes different contact loads between the vehicle shell and the inner wall, wherein the unmanned submarine vehicle has a detachable compensating form (160) which is configured such that the vehicle-shell inhomogeneity is compensated and so a combination (201) of the unmanned submarine vehicle and the detachable compensating form results in a substantially regular contact load between the combination and the inner wall when the combination is ejected.

Description

STARTING DEVICE AND UNDERWATER VEHICLE

The invention relates to a launching device for an unmanned underwater vehicle, in particular for an autonomous underwater vehicle or for a remotely operated vehicle, with a launch tube having an inner wall and an outlet and the unmanned underwater vehicle located in the launch tube, wherein the unmanned underwater vehicle a vehicle body having a vehicle body inhomogeneity, so that an output of the unmanned underwater vehicle causes different contact loads between the vehicle body and the inner wall, and a vehicle having the starting device.

Unmanned underwater vehicles (UUV = unmanned underwater vehicle) such as a Remotely Operated Vehicle (ROV) or an autonomous underwater vehicle (AUV) are usually spent with a crane in the water, and then start with the mission. The infrastructure for such a crane is sometimes expensive to implement. In particular, in the event that inflatable boats are used, such a crane structure is either hardly possible or requires high infrastructural and human resources.

In addition, such UUV ^' s due to their inhomogeneous shape design, which, for example, radially and / or axially from a cigar shape of a torpedo deviates, not simply be brought into the water by means of launch tubes. In some cases, such devices are "thrown" into the water by persons, which can easily cause damage to the UUV, and there is a certain risk of injury to the throwing persons, as well as the danger that they will fall into the water themselves during deployment.

[04] The object of the invention is to improve the state of the art.

[05] The object is achieved by a launch device for an unmanned underwater vehicle (UUV), in particular for an autonomous underwater vehicle (AUV) or for a remotely operated vehicle (ROV), with a launch tube having an inner wall and an outlet, and the in the launch tube located unmanned underwater vehicle, the unmanned

Underwater vehicle has a vehicle body with a vehicle hull inhomogeneity, so that ejection of the unmanned underwater vehicle causes different contact loads between the vehicle body and inner wall, wherein the unmanned underwater vehicle has a releasable balance shape, which is designed so that the vehicle body inhomogeneity is balanced, so that a combination of the unmanned underwater vehicle and the releasable balance form when ejecting the combination leads to a substantially uniform contact load between the combination and the inner wall. [06] By using the described releasable compensation form, the inhomogeneous vehicle casing shape can be compensated in such a way that the unmanned underwater vehicle in the present case can be brought into the water through an existing launch tube.

In addition, in the present case can be dispensed with complicated crane structures. Also when using inflatable boats, a launch tube can be used with the introduced combination. Thus, in the event of heavy waves or in military deployment scenarios and heavy fire, the unmanned aerial vehicle can be safely used

Underwater vehicle to be sent on its mission.

The essential idea of the invention lies in particular in the fact that unmanned underwater vehicles, which are due to their shape is not safe and undamaged via launch tubes in the use waters be brought, are adapted by adding a supplementary form to the launch tube, so that the underwater vehicles together with the respective balancing shape can be spent in the feed.

[09] The following is explained:

[10] A "starting device" is in particular a system which serves to transport underwater particles, whereby it can be transported directly into the medium of water or else into the water via air. [11] A "unmanned underwater vehicle" is in particular a vehicle which moves substantially under the water and in particular has its own drive. The unmanned underwater vehicles include Remotely Operated Vehicles ^(ROV's), and autonomous underwater vehicles (AUVs). All These watercraft are essentially using the term Unmanned Underwater Vehicle

(UUV) summarized.

The "launch tube" is a tubular structure, over which in the present case the underwater vehicle is brought into the water.The launch tube has in particular a circular basic shape, which may also be a rectangular, polygonal or square basic shape pillars of character.

[13] Inside the launch tube, an "inner wall" is arranged, which serves essentially as a guide surface, so that the underwater vehicle / the combination can be moved defined.

In order to realize the passage into the target medium (air / water), the starting pipe has an "outlet." This outlet can be controllable and obviously designed or can simply be formed by a simple opening.

[15] The "vehicle cover" of the unmanned

Submarine vehicle essentially corresponds to the vessel enveloping. In this case, in particular, the envelope is included, which "extends radially outward" would come in touching contact with the inner wall of the launch tube.

[16] "Vehicle hull inhomogeneity" is understood to mean all components and bulges which deviate radially and / or axially from a uniform shape, for example a cigar shape.

Tool holder, sonars or GPS, which are arranged at different positions on the underwater vehicle and which just do not allow or make it difficult for the underwater vehicle has a uniform over the length cross-section. These Fahrzuginhomogenitäten lead, for example, that when the underwater vehicle is spent in the launch tube, the underwater vehicle tilts and thus rests for example on two points or a defined placement is not possible. In addition, an ejection of the underwater vehicle from the launch tube would in particular cause certain components of the underwater vehicle in sliding contact with the launch tube occur, which would damage the launch tube on the one hand or would damage the abrasive component of the underwater vehicle. It could also be a snagging or tearing of any components. All described touch effects are summarized here under "different contact loads".

[17] The "releasable balancing form" complements this

Underwater vehicle in particular such that on the releasable balance form the underwater vehicle a Contact with the inner wall of the starting pipe is formed. Ideally, in this case, the detachable compensation form has such a large outer surface, which comes into touching contact with the inner wall of the launch tube, that a method of "combination" of unmanned underwater vehicle and the compensating shape leads to a defined displacement during ejection of the combination It is also possible to provide a plurality of different releasable compensating forms, each of which comprises the unmanned underwater vehicle at intervals at intervals.

[18] A substantially uniform "contact load" is given in particular when the inner wall is contacted via an outer surface of the detachable compensating mold, In particular, the surface coming into contact with the inner wall is larger than the contact surface which would arise when the unmanned underwater vehicle contacted without releasable balance form the inner wall of the launch tube.

[19] By "releasable" is meant, in particular, that there is only a slight contact between the unmanned underwater vehicle and the compensating form, which is in particular released when the combination is placed in the transfer medium (air or water) In particular, refer to the fact that there is only a mechanical contact, which is solved by leaving the launch tube Adhesive can be used. In a simple embodiment, this can be a painter's adhesive tape which, with little effort, dissolves the combination without the holding effect of the inner wall of the starting pipe, so that after release the detachable compensating mold is separated from the unmanned underwater vehicle. This separation can for example be due to the pressure differences, a spring action or due to the fact that the water is a chemical solvent.

In one embodiment, the starting device has a relay device, which by means of a data exchange line, in particular by means of a

Optical waveguide, connected to the underwater vehicle and / or the balance shape, wherein the

Relay device is arranged in the interior of the starting pipe and spent after ejecting the combination in an outlet medium.

[21] Communication with the unmanned underwater vehicle can advantageously take place via such relay devices. In particular, such a relay device may have a guided in cross-winding optical waveguide, which with the

Underwater vehicle is connected, in particular, the underwater vehicle also has a running in cross-winding winding. In this case, the connecting optical waveguide can be made thinner, for example, as an optical waveguide cable, which is connected to the transfer system (for example a ship). For the If, for example, the underwater vehicle is used for the hunting of mines, the relay device is, for example, a lowering device, which forms a certain distance from the found mien due to its vertically directed weight force and thus its positional stability. Because of that

Relay device is located inside the launch tube, this can be spent simultaneously with the unmanned underwater vehicle in the target medium.

In a relevant form of expression, the relay device has a Relaishülle with a

Relaishülleninhomogenität so that the ejection of the relay device causes different contact loads between the vehicle body and the inner wall, wherein the relay device has a Relaishüllenausgleichsform which is designed such that the

Relay hull inhomogeneity is balanced, so that a combination of the relay device and the Relaishüllenausgleichsform when ejecting the

Relay combination leads to a substantially uniform contact load between the relay combination and the inner wall.

In the present case, the idea according to the invention is again based on the fact that the relay device is adapted accordingly to the starting pipe. The definitions correspond to the previously made definitions, the definitions herein referring respectively to the relay device rather than to the underwater vehicle. At this point it should be noted that a Relaishülleninhomogenität in particular already given, if the inner wall of the starting pipe comprises contacting the relay device.

[24] Advantageously, the relay device can be ejected delayed to the underwater vehicle, so that it is ensured that the relay device is not destroyed by the launched underwater vehicle. This can be realized, for example, in that the relay combination exerts a higher resistance on the inner wall of the starting pipe than the combination.

[25] In a further embodiment, the releasable compensation form and / or the one

Relaishüllenausgleichs form two, three, four, five or more individual forms, which together form the particular form of compensation and / or the Relaishüllenausgleichsform.

[0012] The separation of the combination or the relay combination can be substantially simplified by means of this quasi "puzzled" compensating shape or relay hull balancing mold The individual shapes can be provided in particular radially or also lengthwise, in particular in the case of lengthwise individual shapes of the relay hull compensating shape or form the balance form, oblique separation areas are advantageous because they facilitate the discharge of the individual individual shapes and thus the total separation of the combination or the relay combination when ejecting. [27] In order to simplify the separation of the combination or relay combination, the combination and / or the relay combination may comprise a spring element and / or a clamping element which, after leaving the starting tube, separates the combination and / or the relay combination or disconnect, so that the underwater vehicle and / or the relay device is einz zbarbereit or are.

Such a spring element may be provided by, for example, in the unmanned underwater vehicle tense spring elements are arranged, which the compensating shape or the

Press the relay hull compensation mold against the inner wall of the starter pipe. As soon as the combination or the relay combination has left the starting pipe, the back pressure through the inner wall of the starter pipe has been eliminated, so that the compensation form or the

Relaishüllenausgleichsform be removed by the spring elements.

An inverse solution or a combination with the first solution can be realized, in the complementary or alternative, the compensation shape and / or

Relief hull compensation form, the spring elements (e.g., coil spring), which the sheath of the

Underwater vehicle or the relay device imprint their spring force.

Also, for example, may be provided a strained (metal) band, which around the balance shape and / or the Relaishullen compensation form is placed. Again, this band is arranged such that the inner wall of the starting tube counteracts the resilient force of the band or the metal strip.

[31] In a related embodiment, the releasable balance form and / or the relay shell balancing form realizes or realizes the spring element. This can be done for example by the material selection of the compensation form or the Relaishüllenausgleichsform. For example, plastics can be used which are partially reversible compressible. In this case, for example, the Relaishüllenausgleichsform and / or the compensating shape may be conical, so that the combination or the relay combination is easily inserted into the starting pipe and with the expulsion in the tube of the balance form through the inner wall of the starting pipe, a pressure is impressed, which for compressing the compensation shape or the Relaishüllenausgleichsform leads. As soon as the combination or the relay combination leaves the starting tube, this pressure drops and it separates again the compensation form or the relay hull compensation form.

[32] In order for separation to be particularly effective, the releasable compensating mold and / or the relay casing compensating mold can and / or have a resistance surface and / or a predetermined breaking point, which is imparted with a force in the discharge medium due to an exit velocity of the combination and / or the relay combination so that the combination and / or the Relay combination is separated. In this case, for example, the resistance surface by the edge of the

Relay hull compensation form or the compensation form are formed. What is essential is that when ejected onto the compensating mold and / or relay casing compensation form, impressed pressure leads to separation taking place.

[33] In order to store the combination dry in the starting device before use, the launch tube may have an apparent outlet closure, which is particularly controllable.

Thus, the outlet closure is opened only in real use. This can for example be done electronically or by the actual ejection process of the combination and / or the relay combination.

[35] In a further embodiment, the starting device has an accelerating means which, in an activated state of the combination and / or the relay combination, imparts a force in the direction of the outlet, so that when the outlet is open, the combination and / or the relay combination is brought into the outlet medium ,

Although the ejection can also take place in that the launch tube is inclined for example over 40 ° to a horizontal and due to the

Gravity effect, the combination is spent in the discharge medium, but also in the interior of an overpressure, for example, by an explosion or a compressed air can be generated, which realizes a "blowing out" of the combination and / or the relay combination.

[37] In the present case, the discharge medium can be both water and air.

[38] In a further aspect, the object is achieved by a vehicle, in particular a ship, boat, submarine, helicopter or aircraft or transport device, wherein the vehicle or the transport device has a starting device described above.

[39] As a result, completely new scenarios can be realized for quick deployments. For example, a helicopter may have a launch tube that is vertically disposed. By opening the controllable outlet flap, gravity acts on the combination such that the combination is taken out of the launch tube. In the air, the air resistance leads in particular to the fact that the balance shape is thrown off and the underwater vehicle can dip into the water. In particular, here the relay device may be a buoy, which is connected by means of glass fiber to the UUV and which communicates by radio with the helicopter or a Einsat z central.

[40] By means of the transport device, port monitoring, for example, can be realized very quickly. In this case, for example, the transport device may be a container or the like in which the starting device is arranged. Will then, for example, in a harbor area divers or other suspicious Actions detected, for example, the autonomous underwater vehicle can serve for reconnaissance. Thus, in the present case, only one described above

Starting device be envisaged, which can be adapted to the different scenarios and means of transport. In particular, this represents a very rapid and infrastructure-independent method of transferring unmanned underwater vehicles.

[41] The invention will be explained in more detail below with reference to an exemplary embodiment. Show it

Figure la is a schematic representation of a

Combination of a ROV with associated compensation form and associated launch tube in a side view,

Figure lb is a highly schematic representation of

Combination of the figure la in a frontal view and

Figure 2 is located in a starting pipe

Combination and associated

Relay combination.

[42] A starting device 101 has an ROV 103 and a starting pipe 105. The launch tube 105 has a start tube inner wall 107 and a via a

Opening hinge 273 revealable opening flap 271 and an insertable through a hinge 283 283 insert flap, which is by means of a handle 285 is apparent. The ROV 103 includes an ROV body 132 having a tool head 131 at the tip thereof and fins 135 at the tail thereof. On top, the ROV 103 additionally has a GPS receiver 137 and an active sonar 145 on its underside. For energy supply four battery box 133 are arranged on the side. In one of the battery container 133, a camera 139 is arranged in the front region. In addition, a lamp 141 is disposed in another battery container 133 in the front region.

[44] An ROV contour 166 forms on the outside of the ROV 103. The distance shown in the figure lb between the actual components and the contour with the reference 166 is for illustration only. In the real case, the compensation form 160 sits directly at the individual points and the transition between the compensation form 160 and the ROV 103 forms the actual contour 166.

The balance form 160 is formed by four radial Ausgleichsformviertel 161, 162, 163, 164. These quarters have a printing surface (hatched in FIG. 1b). As soon as the combination 201 of balancing mold 160 and ROV 103 are brought into the water, a pressure is applied to the contact surface (hatched area in FIG. 1b).

[46] Furthermore, the compensation mold 160 has longitudinally arranged contact slopes 168 over which parts of the compensation mold 160 slide off after ejection. The Compensation mold 160 is made of an elastic plastic.

[47] The circumference of the combination 201 is about 1mm larger than the caliber of the starting pipe 105. In the case of use, the combination 201 is spent in the starting pipe 105 by insertion in the insertion direction 151 and slight pressing in the starting pipe 105. Between the compensating mold 160 and the inner wall 107 of the starting pipe 105, a pressure is impressed on the combination 201, which closes the combination 201 and the starting pipe 105.

[48] In the rear region of the starting pipe 105, a lowering 291 is provided, which serves as a relay station after the transfer. In the sinker 291 and in the rear of the ROV ^'s each winding with wound in the cross winding glass fibers 103 are arranged, which on removal of the ^ROV' s 103 through the

Unwind removal speed and the force applied thereby.

[49] In addition, the sinker 291 includes an additional optical fiber cable, with which is possible to communicate the ^ROV's with for example a ship. A lowering compensating mold 293, which adjusts the lowering 291 to the caliber of the starting pipe 105, is arranged around the lowering member 291. In the rear region of the starting pipe 105, an access for a compressed air cylinder 297 is provided, which can be filled via a valve 299 with compressed air. [50] In the application, the opening flap 271 is closed. The combination 201 is first placed in the launch tube 105. Subsequently, the lowering 291 is also spent with the Absenkerausgleichsform 293 in the starting pipe 105.

[51] Subsequently, the previously opened tailgate 181 is closed manually via the insertion hinge 283 by means of handle 285. In the application, the opening flap 271 is now opened completely electronically via the opening hinge 273. By the then resulting outlet is a transition to the discharge medium (water), given. Once the ROV has been activated by means of the fiber optic cable 295, the valve 299 is opened abruptly so that the compressed air in the compressed air cylinder 297 spreads in the tail region of the launch tube 105 and first conveys the combination 201 and then the sinker 291 with the sinker compensation mold 293 out of the launch tube ,

[52] As soon as the combination in water is not subjected to any pressure through the inner wall 107 of the launch tube 105, a separation of the balance form 160 from the ROV and a separation of the sinker 291 and the sinker compensation mold 293 takes place. Due to the weight force, the sinker 291 becomes shortly after the outlet pulled down vertically by the weight. The then activated ROV, which is freed from the balancing form 160, can then perform its mission. Reference sign list

101 starter

103 ROV

105 launch tube

107 start pipe inner wall

131 Tool head

132 ROV body

133 battery container

135 fins

137 GPS

139 camera

141 lamp

143 drive

145 sonar

151 insertion direction

160 compensation form

161 first radial Ausgleichsformviertel

162 second radial Ausgleichsformviertel

163 Third Radial Balancing Quarter 164 fourth radial balance quarter

166 contour

168 contact slopes

201 combination

271 opening flap

273 Opening hinge

281 slide-in flap

283 insertion hinge

285 handle

291 droppers

293 Lowering compensation form

295 fiber optic cable

297 compressed air cylinder

299 valve

Claims

Claims:

A launching device (101) for an unmanned underwater vehicle (103), in particular for an autonomous underwater vehicle or for a remotely operated vehicle, having a launch tube (105) having an inner wall (107) and an outlet (271), and the in the unmanned underwater vehicle having a vehicle casing with a vehicle hull inhomogeneity (133, 135, 137, 143, 145), so that ejection of the unmanned underwater vehicle causes different contact loads between the vehicle body and the inner wall, characterized in that the unmanned underwater vehicle a releasable balance form (160) configured to balance the vehicle body inhomogeneity such that a combination (201) of the unmanned underwater vehicle and the releasable balance form upon ejection of the combination into a substantially uniform contact area load between the combination and the inner wall.

2. Starting device according to claim 1, characterized by a relay device (291), which by means of a data exchange line (295), in particular by means of an optical waveguide, is connected to the underwater vehicle and / or the compensating mold, wherein the relay device is arranged in the interior of the starting pipe and after spent the ejection of the combination in an exit medium.

3. Starting device according to claim 2, characterized in that the relay device has a Relaishülle with a Relaishülleninhomogenität, so that the ejection of the relay device different contact loads between the vehicle body and the inner wall, the relay device having a relay hull equalizing mold (293) configured to balance the relay hull inhomogeneity so that a relay combination of the relay device and the relay hull compensating mold upon ejection of the relay hull

Starting device according to one of the preceding claims, characterized in that the releasable compensating shape and / or the Relaishüllenausgleichsform two, three, four, five or more individual forms (161, 162, 163, 164) or have, which together in particular the compensating shape and / or make the relay hull compensation form.

Starting device according to one of the preceding claims, characterized in that the combination and / or the relay combination comprises a spring element and / or a clamping element or which after leaving the starting tube, the combination and / or relay combination separates or separate, so that the underwater vehicle and / or the relay device is or are ready for use.

Starting device according to claim 5, characterized in that the releasable compensating mold and / or the Relaishüllenausgleichsform realized or realize the spring element.

Starting device according to one of the preceding claims, characterized in that the releasable compensation form and / or the Relaishüllenausgleichsform a

Resistance surface and / or a predetermined breaking point (168) or have, which in the outlet medium due to an exit velocity of the combination and / or the relay combination a force is impressed, so that the combination and / or the

Relay combination is separated.

Starting device according to one of the preceding claims, characterized in that the starting tube has an apparent outlet sverschluss (271), which is in particular controllable.

Starting device according to one of the preceding claims, characterized by an acceleration means (297) which imparts a force in an activated state of the combination and / or the relay combination in the direction of the outlet, so that when the outlet is open, the combination and / or the relay combination is brought into the outlet medium becomes.

Vehicle, in particular ship, boat, submarine, helicopter or aircraft, or transport device, wherein the vehicle or the transport device has a starting device according to one of the preceding claims.