EP3180241B1 - Launching device and submarine vehicle - Google Patents

Launching device and submarine vehicle Download PDF

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Publication number
EP3180241B1
EP3180241B1 EP15749972.4A EP15749972A EP3180241B1 EP 3180241 B1 EP3180241 B1 EP 3180241B1 EP 15749972 A EP15749972 A EP 15749972A EP 3180241 B1 EP3180241 B1 EP 3180241B1
Authority
EP
European Patent Office
Prior art keywords
relay
combination
vehicle
shell
underwater vehicle
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.)
Active
Application number
EP15749972.4A
Other languages
German (de)
French (fr)
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EP3180241A1 (en
Inventor
Detlef Lambertus
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atlas Elektronik GmbH
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Atlas Elektronik GmbH
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Publication date
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Publication of EP3180241A1 publication Critical patent/EP3180241A1/en
Application granted granted Critical
Publication of EP3180241B1 publication Critical patent/EP3180241B1/en
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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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/19—Other loading or unloading equipment involving an intermittent action, not provided in groups B63B27/04 - B63B27/18
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
    • F41F3/00—Rocket or torpedo launchers
    • F41F3/04—Rocket or torpedo launchers for rockets
    • F41F3/07—Underwater launching-apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
    • F41F3/00—Rocket or torpedo launchers
    • F41F3/08—Rocket or torpedo launchers for marine torpedoes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
    • F41F3/00—Rocket or torpedo launchers
    • F41F3/08—Rocket or torpedo launchers for marine torpedoes
    • F41F3/10—Rocket or torpedo launchers for marine torpedoes from below the surface of the water
    • 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
    • B63G1/00—Arrangements of guns or missile launchers; Vessels characterised thereby
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • the invention relates to a starting device for an unmanned underwater vehicle, in particular for an autonomous underwater vehicle or for a remotely operated vehicle, with a starting tube, which has an inner wall and an outlet, and the unmanned underwater vehicle located in the starting tube, the unmanned underwater vehicle having a vehicle shell a vehicle shell inhomogeneity, so that an output of the unmanned underwater vehicle causes different contact loads between the vehicle shell and the inner wall, and a vehicle that has the starting device.
  • Unmanned underwater vehicles such as a Remotely Operated Vehicle (ROV) or an Autonomous Underwater Vehicle (AUV) are usually brought into the water with a crane and then started with the respective mission.
  • ROV Remotely Operated Vehicle
  • AUV Autonomous Underwater Vehicle
  • the infrastructure for such a crane can sometimes be complex to implement.
  • such a crane structure is either hardly possible or requires high infrastructural and human resources.
  • UUVs can due to their inhomogeneous shape, which, for example, radially and / or axially from a cigar shape of a torpedo deviates, can not be simply put into the water using start pipes. Some of these devices are "thrown" into the water by people, which can easily damage the UUV. In addition, there is a certain risk of injury for the throwing person, as well as the risk that they themselves fall into the water when they are deployed.
  • DE 3940583 A1 which is considered to be the closest prior art, an underwater starting device is described which ejects a fast underwater running body 2 from a short starting tube 1.
  • a membrane four seals the start tube 1 gas-tight.
  • a cavity between the running body two and the membrane 4 is filled with a gas, the pressure of which is at least as great as the pressure of the surrounding water.
  • this cavity 8 is filled by a filler 12 made of a compressible material, for example foam, cf. Figure 5.
  • this material prevents the starting tube 1 from being filled with water.
  • this material will not form the movement of the barrel body 2 when it enters the water. The material can be easily stripped or compressed from the barrel body 2 or broken down into small fragments.
  • US 6502528 B1 describes a launcher (launcher 10) that shoots an underwater vehicle (vehicle 6), for example a torpedo or a rocket, using a piston (ram 14) under water.
  • a launching tube 7 is provided with a closure (muzzle cap 12) at the front.
  • a plurality of elongated reinforcing elements are arranged between the piston 14 and the closure 12 and are received in corresponding recesses (recesses 12b and 14b) in the closure 12 and in the piston 14.
  • These reinforcing elements 22 absorb forces which act on the one hand, for example due to different water depths, on the closure 12 from the outside and, on the other hand, act on the piston 14 from the inside.
  • US 3613618 shows a starting device (torpedo tube 11) which is able to complete a torpedo 10.
  • the torpedo 10 pulls a cable (control wire 14) behind it here, which is pulled off a spool (spool 13).
  • a rear part of the cable 14 is held by a flexible sheath (flexible sheath 15) which is stretched by the cable 14.
  • FR 2983288 A1 shows a starting device (moyens de tone 2) on board a submarine (vehicule saus-marin 1), which is able to eject a torpedo (torpille 3).
  • An electrical connection means (destress 6 de connexion shall) connects the submarine 3 to the torpedo 3 and comprises a line (cable 5) which ends in a vehicle-side connector (fiche de raccordement 7).
  • a tube (tube etanche 9) at the end of the torpedo 3 carries a plug (pinch 8 favourablee au vehicule) and carries the line 5.
  • the object of the invention is to improve the prior art.
  • a starting device for an unmanned underwater vehicle UUV
  • UUV unmanned underwater vehicle
  • AUV autonomous underwater vehicle
  • ROV remotely operated vehicle
  • a starting tube which has an inner wall and an outlet
  • the unmanned underwater vehicle has a vehicle shell with a vehicle shell inhomogeneity, so that an expulsion of the unmanned underwater vehicle causes different contact loads between the vehicle shell and the inner wall
  • the unmanned underwater vehicle having a releasable form of compensation, which is designed such that the vehicle shell is homogeneous a combination of the unmanned underwater vehicle and the releasable form of compensation when ejecting the combination leads to a substantially uniform contact load between the combination and the inner wall t.
  • the inhomogeneous vehicle casing shape can be compensated in such a way that the unmanned underwater vehicle can be brought into the water through an existing starting pipe.
  • the main idea of the present invention lies in the fact that unmanned underwater vehicles, which due to their shape are not safe and undamaged can be brought into the operational waters via start pipes, are adapted to the start pipe by adding a supplementary form, so that the underwater vehicles together with the respective form of compensation into the application medium can be spent.
  • a “starting device” is, in particular, a system that is used to ship underwater vehicles. This can be done directly in the medium of water or via air in the water.
  • Unmanned underwater vehicle is, in particular, a vehicle that essentially moves under water and in particular has its own drive.
  • Unmanned underwater vehicles include Remotely Operated Vehicles (ROV's) and Autonomous Underwater Vehicles (AUV). All of these watercraft are essentially summarized with the term Unmanned Underwater Vehicle (UUV).
  • ROV's Remotely Operated Vehicles
  • UUV Unmanned Underwater Vehicle
  • the “launch tube” is a tubular structure, via which the underwater vehicle is brought into the water in the present case.
  • the starting tube has in particular a circular basic shape, which can also be a rectangular, polygonal or square basic shape.
  • the column character is essential.
  • An “inner wall” is arranged in the interior of the start tube, which essentially serves as a guide surface so that the underwater vehicle / the combination can be brought in a defined manner.
  • the start pipe has an "outlet".
  • This outlet can be designed to be controllable and openable or can also be simply formed by a simple opening.
  • the "vehicle shell" of the unmanned underwater vehicle essentially corresponds to that which envelops the watercraft.
  • the envelope is included, which "extends radially outwards” would come into contact with the inner wall of the start tube.
  • Vehicle inhomogeneity is understood to mean all components and bulges which deviate radially and / or axially from a uniform shape, for example a cigar shape.
  • an unmanned underwater vehicle has camera lamps, tool holders, sonars or GPS, which are arranged at different positions on the underwater vehicle and which do not make it possible or make it difficult for the underwater vehicle to have a cross section which is uniform over its length.
  • vehicle inhomogeneities lead, for example, to the fact that when the underwater vehicle has been placed in the launch tube, the underwater vehicle tilts and thus lies on two points, for example, or that a defined placement is not possible.
  • the "releasable form of compensation” supplements the underwater vehicle in such a way that the detachable form of compensation unites the underwater vehicle Forms contact with the inner wall of the starting tube.
  • the releasable compensation form has such a large outer surface that comes into contact with the inner wall of the start tube that a method of "combination" of unmanned underwater vehicles and the compensation form leads to a defined displacement when the combination is ejected.
  • the releasable compensation form can extend over the entire length of the unmanned underwater vehicle and beyond.
  • Several different detachable forms of compensation can also be provided, each of which comprises the unmanned underwater vehicle lengthways at certain intervals.
  • a substantially uniform "contact load” is given in particular when the inner wall is contacted via an outer surface of the releasable compensation form.
  • the area which comes into contact with the inner wall is then larger than the contact area which would arise if the unmanned underwater vehicle contacted the inner wall of the starting tube without a detachable compensation form.
  • “Detachable” is to be understood in particular to mean that there is only slight contact between the unmanned underwater vehicle and the compensating form, which is particularly solved when the combination is placed in the transport medium (air or water).
  • the releasability can relate in particular to the fact that there is only mechanical contact, which is released by leaving the starting tube.
  • a 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 tube, so that after the removal the detachable compensation form is separated from the unmanned underwater vehicle. This separation can take place, for example, on the basis of the pressure differences, a spring action or on account of the fact that the water is a chemical solvent.
  • the starting device has a relay device which is connected to the underwater vehicle and / or the compensation form by means of a data exchange line, in particular by means of an optical waveguide, the relay device being arranged in the interior of the starting tube and being brought into an exit medium after the combination has been ejected.
  • Such relay devices communicate with the unmanned underwater vehicle.
  • a relay device can have an optical waveguide which is guided in a cross winding and which is connected to the underwater vehicle, in particular the underwater vehicle likewise having a winding which is designed in a cross winding.
  • the connecting optical waveguide can, for example, be made thinner than an optical waveguide cable which is connected to the delivery system (for example ship).
  • the relay device is, for example, a lowering device which forms a certain distance from the found mine due to its vertically directed weight force and thus its stability in place.
  • the fact that the relay device is located inside the start tube means that it can be brought into the target medium at the same time as the unmanned underwater vehicle.
  • the relay device has a relay sleeve with a relay sleeve inhomogeneity, so that the ejection of the relay device causes different contact loads between the relay sleeve and the inner wall, the relay device having a relay sleeve compensation form, which is designed such that the relay sleeve non-homogeneity is balanced out, so that a combination is equalized Relay device and the relay cover compensation form when ejecting the relay combination leads to a substantially uniform contact load between the relay combination and the inner wall.
  • the idea according to the invention is also based again on the relay device being correspondingly adapted to the starting tube.
  • the definitions correspond to the definitions made previously, the definitions in the present case relating to the relay device instead of to the underwater vehicle.
  • a Relay sleeve inhomogeneity in particular already exists when the inner wall of the starting tube comprises the relay device in contact.
  • the relay device can be ejected to the underwater vehicle with a delay, so that it is ensured that the relay device is not destroyed by the deployed underwater vehicle.
  • This can be achieved, for example, in that the relay combination exerts a higher resistance on the inner wall of the start tube than the combination.
  • the releasable compensation form and / or the relay cover compensation form has or has two, three, four, five or more individual forms, which together form the compensation form and / or the relay cover compensation form.
  • This quasi “puzzled” compensation form or relay cover compensation form makes it much easier to separate the combination or the relay combination.
  • the individual shapes can in particular be provided radially or lengthwise. Particularly in the case when the length of the individual forms form the relay casing compensation form or the compensation form, inclined separating areas are advantageous, since these facilitate the sliding off of the individual individual forms and thus the overall separation of the combination or the relay combination.
  • the combination and / or the relay combination can have a spring element and / or a tensioning element which, after leaving the starting tube, separates or separates the combination and / or the relay combination, so that the underwater vehicle and / or the relay device is or are ready for use.
  • Such a spring element can be provided in that, for example, tensioned spring elements are arranged in the unmanned underwater vehicle, which press the compensation form or the relay cover compensation form against the inner wall of the starting tube. As soon as the combination or the relay combination has left the start tube, the counterpressure through the inner wall of the start tube is eliminated, so that the compensation form or the relay cover compensation form is removed by the spring elements.
  • An inverse solution or a combination with the first solution can also be implemented, in which, in addition or as an alternative, the compensation form and / or relay cover compensation form have the spring elements (e.g. coil spring) which impart their spring force to the cover of the underwater vehicle or the relay device.
  • the compensation form and / or relay cover compensation form have the spring elements (e.g. coil spring) which impart their spring force to the cover of the underwater vehicle or the relay device.
  • a tensioned (metal) band can also be provided, for example, which is about the compensation shape and / or the Relay sleeve compensation form is laid.
  • this band is arranged such that the inner wall of the starting tube counteracts the resilient force of the band or the metal band.
  • the releasable compensation form and / or the relay cover compensation form realizes the spring element.
  • This can be done, for example, by selecting the material for the compensation form or the relay cover compensation form.
  • plastics can be used which are partially reversibly compressible.
  • the relay sleeve compensation form and / or the compensation form can be designed conically, so that the combination or the relay combination can be easily inserted into the starting tube and, as it advances in the tube of the compensation form, a pressure is applied through the inner wall of the starting tube, which pressure is used to compress it the compensation form or the relay cover compensation form. As soon as the combination or the relay combination leaves the start tube, this pressure drops and the compensation form or the relay casing compensation form separates again.
  • the releasable compensation form and / or the relay casing compensation form can have a resistance surface and / or a predetermined breaking point, which is exerted on the exit medium by a force exiting the combination and / or the relay combination, so that the force Combination and / or the Relay combination is separated.
  • the resistance surface can be formed by the edge of the relay cover compensation form or the compensation form. It is essential here that when ejected onto the compensating form and / or the relay casing compensating form, pressure results in separation.
  • the starter tube can have an openable outlet closure, which is particularly controllable.
  • the exit closure is only opened in real use. This can be done electronically, for example, or through the actual ejection process of the combination and / or the relay combination.
  • the starting device has an acceleration means which, when the combination and / or the relay combination is activated, applies 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.
  • the ejection can also take place by tilting the starting tube, for example, over 40 ° with respect to a horizontal and by virtue of the gravitational effect, the combination being brought into the outlet medium, but overpressure can also occur inside, for example due to an explosion or compressed air are generated, which realizes a "blowing out" of the combination and / or the relay combination.
  • the exit medium can be both water and air.
  • the object is achieved by a vehicle, in particular a ship, boat, submarine, helicopter or aircraft or transport device, the vehicle or the transport device having a starting device described above.
  • a helicopter can have a starting tube which is arranged vertically. By opening the controllable outlet flap, the gravitation acts on the combination in such a way that the combination is moved out of the start tube.
  • air resistance in particular means that the compensation form is flung away and the underwater vehicle can dive into the water.
  • the relay device can be a buoy, which is connected to the UUV by means of glass fiber and which communicates by radio with the helicopter or an operations center.
  • a port monitoring can be implemented very quickly, for example, by the transport device.
  • the transport device can be a container or the like, for example, in which the starting device is arranged. Then become divers or other suspects in a port area, for example Actions detected, for example, the autonomous underwater vehicle can serve for reconnaissance. Therefore, in the present case, only a previously described starting device has to be provided, which can be adapted to the different application scenarios and means of transport. In particular, this represents a very quick and infrastructure-independent method of transportation for unmanned underwater vehicles.
  • a starting device 101 has an ROV 103 and a starting pipe 105.
  • the starting tube 105 has a starting tube inner wall 107 and an opening flap 271 which can be opened via an opening hinge 273 and an insertion flap 281 which can be opened via an insertion hinge 283 and which can be opened by means of a handle 285.
  • the ROV 103 has an ROV body 132, at the tip of which a tool head 131 and at the rear of which fins 135 are arranged.
  • the ROV 103 also has a GPS receiver 137 on the top and an active sonar 145 on its underside.
  • Battery containers 133 are arranged on the side for energy supply.
  • a camera 139 is arranged in the front area in one of the battery containers 133.
  • a lamp 141 is arranged in another battery container 133 in the front area.
  • An ROV contour 166 forms on the outside of the ROV 103.
  • the Indian Figure 1b distance shown between the actual components and the contour with the reference numeral 166 is used only for illustration. In the real case, the compensation shape 160 sits directly at the individual points and the transition between the compensation shape 160 and the ROV 103 forms the actual contour 166.
  • the compensation shape 160 is formed by four radial compensation shape quarters 161, 162, 163, 164. These quarters have a printing area (in Figure 1b shown hatched). As soon as the combination 201 of compensation form 160 and ROV 103 is placed in the water, the contact area (hatched area in Figure 1b ) imprinted a print.
  • the compensating mold 160 has longitudinally arranged contact bevels 168, over which parts of the compensating mold 160 slide after being ejected.
  • the Compensation mold 160 consists of an elastic plastic.
  • the circumference of the combination 201 is approximately 1 mm larger than the caliber of the starting tube 105.
  • the combination 201 is brought into the starting tube 105 by being pushed in in the direction of insertion 151 and being pressed lightly into the starting tube 105.
  • a pressure is applied to the combination 201 between the compensating mold 160 and the inner wall 107 of the starting tube 105, which closes the combination 201 and the starting tube 105.
  • a lowering device 291 is provided in the rear area of the starting tube 105, which serves as a relay station after the installation.
  • the lowering 291 and in the rear of the ROV's 103 there are in each case coils with glass fibers wound in cross-winding, which unwind when the ROV's 103 is removed due to the removal speed and the force applied thereby.
  • the sink 291 has an additional fiber optic line, with which the ROV can communicate with, for example, a ship.
  • a lowering compensation form 293 is arranged around the lowering device 291, which adjusts the lowering device 291 to the caliber of the starting tube 105.
  • a compressed air bottle 297 In the rear area of the start pipe 105 there is an access for a compressed air bottle 297, which can be filled with compressed air via a valve 299.
  • the opening flap 271 is closed.
  • the combination 201 is first placed in the start pipe 105. Subsequently, the lowering device 291 with the lowering device 293 is also brought into the starting pipe 105.
  • the previously opened tailgate 181 is then closed manually by means of the handle 285 via the insertion hinge 283.
  • the opening flap 271 is now fully opened electronically via the opening hinge 273.
  • a transition to the outlet medium (water) is provided through the outlet that then results.
  • the valve 299 is opened abruptly, so that the compressed air in the compressed air bottle 297 spreads out in the rear area of the start pipe 105 and first the combination 201 and then the sink 291 with the sinker compensation form 293 are conveyed out of the start pipe .
  • the compensation form 160 is separated from the ROV and the sinker 291 and sinker compensation form 293 are separated. Due to the weight, the sinker 291 becomes shortly after the outlet by the weight pulled vertically down. The then activated ROV, which is exempt from compensation form 160, can then carry out its mission.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning Or Clearing Of The Surface Of Open Water (AREA)
  • Toys (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)

Description

Die Erfindung betrifft eine Startvorrichtung für ein unbemanntes Unterwasserfahrzeug, insbesondere für ein autonomes Unterwasservehikel oder für ein ferngesteuert operierendes Vehikel, mit einem Startrohr, welches eine Innenwand und einen Auslass aufweist, und dem in dem Startrohr befindlichen unbemannten Unterwasserfahrzeug, wobei das unbemannte Unterwasserfahrzeug eine Fahrzeughülle mit einer Fahrzeughülleninhomogenität aufweist, sodass ein Ausstoß des unbemannten Unterwasserfahrzeugs unterschiedliche Kontaktbelastungen zwischen Fahrzeughülle und Innenwand verursacht, sowie ein Fahrzeug, welches die Startvorrichtung aufweist.The invention relates to a starting device for an unmanned underwater vehicle, in particular for an autonomous underwater vehicle or for a remotely operated vehicle, with a starting tube, which has an inner wall and an outlet, and the unmanned underwater vehicle located in the starting tube, the unmanned underwater vehicle having a vehicle shell a vehicle shell inhomogeneity, so that an output of the unmanned underwater vehicle causes different contact loads between the vehicle shell and the inner wall, and a vehicle that has the starting device.

Unbemannte Unterwasserfahrzeuge (UUV = unmanned underwater vehicle) wie beispielsweise ein Remotely Operated Vehicle (ROV) oder ein Autonomous Underwater Vehicle (AUV) werden zumeist mit einem Kran in das Wasser verbracht, um dann mit der jeweiligen Mission zu starten. Die Infrastruktur für einen derartigen Kran ist teils aufwendig zu realisieren. Insbesondere für den Fall, dass Schlauchboote eingesetzt werden, ist ein derartiger Kranaufbau entweder kaum möglich oder benötigt hohe infrastrukturelle und personelle Ressourcen.Unmanned underwater vehicles (UUV) such as a Remotely Operated Vehicle (ROV) or an Autonomous Underwater Vehicle (AUV) are usually brought into the water with a crane and then started with the respective mission. The infrastructure for such a crane can sometimes be complex 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.

Zudem können derartige UUV's aufgrund ihrer inhomogenen Formgestaltung, welche beispielsweise radial und/oder axial von einer Zigarrenform eines Torpedos abweicht, nicht mittels Startrohren einfach in das Wasser verbracht werden. Teilweise werden derartige Geräte durch Personen in das Wasser "hineingeworfen", wobei leicht Beschädigungen an dem UUV entstehen können. Zudem besteht eine gewisse Verletzungsgefahr für die werfenden Personen, sowie die Gefahr, dass diese bei dem Ausbringen selbst mit in das Wasser stürzen.In addition, such UUVs can due to their inhomogeneous shape, which, for example, radially and / or axially from a cigar shape of a torpedo deviates, can not be simply put into the water using start pipes. Some of these devices are "thrown" into the water by people, which can easily damage the UUV. In addition, there is a certain risk of injury for the throwing person, as well as the risk that they themselves fall into the water when they are deployed.

In DE 3940583 A1 , die als nächstliegender Stand der Technik betrachtet wird, wird eine Unterwasser-Startvorrichtung beschrieben, die einen schnellen Unterwasser-Laufkörper 2 aus einem kurzen Startrohr 1 ausstößt. Eine Membrane vier verschließt das Startrohr 1 gasdicht. Ein Hohlraum zwischen dem Laufkörper zwei und der Membrane 4 wird mit einem Gas gefüllt, dessen Druck mindestens so groß wie der Druck des umgebenden Wassers ist. In einer Abwandlung wird dieser Hohlraum acht von einem Füllkörper 12 aus einem kompressiblen Werkstoff, beispielsweise Schaumstoff, aufgefüllt, vgl. Figur 5. Dieser Werkstoff verhindert einerseits, dass das Startrohr 1 sich mit Wasser gefüllt. Andererseits bilden wird dieser Werkstoff nicht die Bewegung des Laufkörpers 2, wenn dieser in das Wasser eintritt. Der Werkstoff lässt sich leicht vom Laufkörper 2 abstreifen oder komprimieren oder in kleine Bruchstücke zerlegen.In DE 3940583 A1 , which is considered to be the closest prior art, an underwater starting device is described which ejects a fast underwater running body 2 from a short starting tube 1. A membrane four seals the start tube 1 gas-tight. A cavity between the running body two and the membrane 4 is filled with a gas, the pressure of which is at least as great as the pressure of the surrounding water. In a modification, this cavity 8 is filled by a filler 12 made of a compressible material, for example foam, cf. Figure 5. On the one hand, this material prevents the starting tube 1 from being filled with water. On the other hand, this material will not form the movement of the barrel body 2 when it enters the water. The material can be easily stripped or compressed from the barrel body 2 or broken down into small fragments.

In US 6502528 B1 wird eine Startvorrichtung (launcher 10) beschrieben, die ein Unterwasserfahrzeug (vehicle 6), beispielsweise ein Torpedo oder eine Rakete, mithilfe eines Kolbens (ram 14) unter Wasser abschießen. Ein Startrohr (launching tube 7) ist vorne mit einem Verschluss (muzzle cap 12) versehen. Zwischen dem Kolben 14 und dem Verschluss 12 sind mehrere langgezogene Verstärkungselemente (rigid elongate segments 22 of sabot 20) angeordnet, welche in entsprechende Aussparungen (recesses 12b and 14b) im Verschluss 12 und im Kolben 14 aufgenommen werden. Diese Verstärkungselemente 22 nehmen Kräfte auf, die einerseits beispielsweise aufgrund unterschiedlicher Wassertiefen von außen auf den Verschluss 12 einwirken und andererseits von innen auf dem Kolben 14 einwirken.In US 6502528 B1 describes a launcher (launcher 10) that shoots an underwater vehicle (vehicle 6), for example a torpedo or a rocket, using a piston (ram 14) under water. A launching tube 7 is provided with a closure (muzzle cap 12) at the front. A plurality of elongated reinforcing elements (rigid elongate segments 22 of sabot 20) are arranged between the piston 14 and the closure 12 and are received in corresponding recesses (recesses 12b and 14b) in the closure 12 and in the piston 14. These reinforcing elements 22 absorb forces which act on the one hand, for example due to different water depths, on the closure 12 from the outside and, on the other hand, act on the piston 14 from the inside.

US 3613618 zeigt eine Startvorrichtung (torpedo tube 11), welche ein Torpedo 10 abzuschließen vermag. Das Torpedo 10 zieht ein Kabel (control wire 14) hinter sich hier, welches von einer Spule (spool 13) abgezogen wird. Ein hinterer Teil des Kabels 14 wird von einer flexiblen Umhüllung (flexible sheath 15) gehalten, welche vom Kabel 14 gestreckt wird. US 3613618 shows a starting device (torpedo tube 11) which is able to complete a torpedo 10. The torpedo 10 pulls a cable (control wire 14) behind it here, which is pulled off a spool (spool 13). A rear part of the cable 14 is held by a flexible sheath (flexible sheath 15) which is stretched by the cable 14.

FR 2983288 A1 zeigt eine Startvorrichtung (moyens de lancement 2) an Bord eines U-Boots (vehicule saus-marin 1), welche ein Torpedo (torpille 3) auszustoßen vermag. Ein elektrisches Verbindungsmittel (des moyens 6 de connexion electrique) verbindet das U-Boot 3 mit dem Torpedo 3 und umfasst eine Leitung (câble 5), die in einem fahrzeugseitigen Stecker (fiche de raccordement 7) endet. Eine Röhre (tube etanche 9) am Ende des Torpedos 3 trägt einen Stecker (prise 8 associee au vehicule) und führt die Leitung 5. FR 2983288 A1 shows a starting device (moyens de lancement 2) on board a submarine (vehicule saus-marin 1), which is able to eject a torpedo (torpille 3). An electrical connection means (des moyens 6 de connexion electrique) connects the submarine 3 to the torpedo 3 and comprises a line (cable 5) which ends in a vehicle-side connector (fiche de raccordement 7). A tube (tube etanche 9) at the end of the torpedo 3 carries a plug (pinch 8 associee au vehicule) and carries the line 5.

Aufgabe der Erfindung ist es den Stand der Technik zu verbessern.The object of the invention is to improve the prior art.

Gelöst wird die Aufgabe durch eine Startvorrichtung für ein unbemanntes Unterwasserfahrzeug (UUV), insbesondere für ein autonomes Unterwasservehikel (AUV) oder für ein ferngesteuert operierendes Vehikel (ROV), mit einem Startrohr, welches eine Innenwand und einen Auslass aufweist, und den in dem Startrohr befindlichen unbemannten Unterwasserfahrzeug, wobei das unbemannte Unterwasserfahrzeug eine Fahrzeughülle mit einer Fahrzeughülleninhomogenität aufweist, sodass ein Ausstoßen des unbemannten Unterwasserfahrzeugs unterschiedliche Kontaktbelastungen zwischen Fahrzeughülle und Innenwand verursacht, wobei das unbemannte Unterwasserfahrzeug eine lösbare Ausgleichsform aufweist, welche derart ausgestaltet ist, dass die Fahrzeughülleninhomogenität ausgeglichen ist, sodass eine Kombination aus dem unbemannten Unterwasserfahrzeug und der lösbaren Ausgleichsform beim Ausstoßen der Kombination zu einer im Wesentlichen gleichmäßigen Kontaktbelastung zwischen der Kombination und der Innenwand führt.The task is solved by a starting device for an unmanned underwater vehicle (UUV), in particular for an autonomous underwater vehicle (AUV) or for a remotely operated vehicle (ROV), with a starting tube, which has an inner wall and an outlet, and that in the starting tube located unmanned underwater vehicle, wherein the unmanned underwater vehicle has a vehicle shell with a vehicle shell inhomogeneity, so that an expulsion of the unmanned underwater vehicle causes different contact loads between the vehicle shell and the inner wall, the unmanned underwater vehicle having a releasable form of compensation, which is designed such that the vehicle shell is homogeneous a combination of the unmanned underwater vehicle and the releasable form of compensation when ejecting the combination leads to a substantially uniform contact load between the combination and the inner wall t.

Durch das Verwenden der beschriebenen lösbaren Ausgleichsform kann die inhomogene Fahrzeughüllenform derart ausgeglichen werden, dass das unbemannte Unterwasserfahrzeug vorliegend durch ein bestehendes Startrohr in das Wasser verbracht werden kann.By using the detachable compensation form described, the inhomogeneous vehicle casing shape can be compensated in such a way that the unmanned underwater vehicle can be brought into the water through an existing starting pipe.

Zusätzlich kann vorliegend auf komplizierte Kranaufbauten verzichtet werden. Auch beim Einsatz mit Schlauchbooten, kann ein Startrohr mit der eingebrachten Kombination verwandt werden. Somit kann bei starkem Wellengang oder bei militärischen Einsatzszenarios und starkem Beschuss gefahrlos das unbemannte Unterwasserfahrzeug auf seine Einsatzmission geschickt werden.In addition, complicated crane structures can be dispensed with here. Even when used with inflatable boats, a starting tube with the combination can be used. In this way, the unmanned underwater vehicle can be safely dispatched to its mission during strong waves or in military deployment scenarios and heavy shelling.

Der wesentliche Erfindungsgedanke liegt vorliegend insbesondere darin, dass unbemannte Unterwasserfahrzeuge, welche aufgrund ihrer Form nicht sicher und unbeschädigt über Startrohre in das Einsatzgewässer verbringbar sind, durch das Hinzufügen einer Ergänzungsform auf das Startrohr angepasst werden, sodass die Unterwasserfahrzeuge zusammen mit der jeweiligen Ausgleichsform in das Einsatzmedium verbracht werden können.The main idea of the present invention lies in the fact that unmanned underwater vehicles, which due to their shape are not safe and undamaged can be brought into the operational waters via start pipes, are adapted to the start pipe by adding a supplementary form, so that the underwater vehicles together with the respective form of compensation into the application medium can be spent.

Folgendes Begriffliche sei erläutert:The following terms are explained:

Eine "Startvorrichtung" ist insbesondere ein System, welches der Verbringung von Unterwasservehikeln dient. Dabei kann das Verbringen direkt in das Medium Wasser oder aber auch über Luft in das Wasser erfolgen.A "starting device" is, in particular, a system that is used to ship underwater vehicles. This can be done directly in the medium of water or via air in the water.

Ein "unbemanntes Unterwasserfahrzeug" ist insbesondere ein Fahrzeug, welches sich im Wesentlichen unter Wasser bewegt und insbesondere über einen eigenen Antrieb verfügt. Zu den unbemannten Unterwasserfahrzeugen zählen Remotely Operated Vehicles (ROV's) und Autonomous Underwater Vehicles (AUV). All diese Wasserfahrzeuge werden im Wesentlichen mit dem Begriff Unmanned Underwater Vehicle (UUV) zusammengefasst.An “unmanned underwater vehicle” is, in particular, a vehicle that essentially moves under water and in particular has its own drive. Unmanned underwater vehicles include Remotely Operated Vehicles (ROV's) and Autonomous Underwater Vehicles (AUV). All of these watercraft are essentially summarized with the term Unmanned Underwater Vehicle (UUV).

Das "Startrohr" ist ein rohrförmiges Gebilde, über welches vorliegend das Unterwasserfahrzeug in das Wasser verbracht wird. Das Startrohr weist insbesondere eine kreisförmige Grundform auf, wobei es sich ebenfalls um eine rechteckige, vieleckige oder quadratische Grundform handeln kann. Wesentlich ist der Säulencharakter.The "launch tube" is a tubular structure, via which the underwater vehicle is brought into the water in the present case. The starting tube has in particular a circular basic shape, which can also be a rectangular, polygonal or square basic shape. The column character is essential.

Im Inneren des Startrohrs ist eine "Innenwand" angeordnet, welche im Wesentlichen als Führungsfläche dient, damit das Unterwasserfahrzeug/die Kombination definiert verbringbar ist.An “inner wall” is arranged in the interior of the start tube, which essentially serves as a guide surface so that the underwater vehicle / the combination can be brought in a defined manner.

Um den Übertritt in das Zielmedium (Luft/Wasser) zu realisieren, weist das Startrohr einen "Auslass" auf. Dieser Auslass kann dabei steuerbar und öffenbar ausgestaltet sein oder kann auch einfach durch eine schlichte Öffnung gebildet werden.In order to achieve the transfer into the target medium (air / water), the start pipe has an "outlet". This outlet can be designed to be controllable and openable or can also be simply formed by a simple opening.

Die "Fahrzeughülle" des unbemannten Unterwasserfahrzeugs entspricht im Wesentlichen der das Wasserfahrzeug Umhüllenden. Dabei ist insbesondere die Umhüllende umfasst, welche "radial nach außen verlängert" im berührenden Kontakt mit der Innenwand des Startrohrs treten würde.The "vehicle shell" of the unmanned underwater vehicle essentially corresponds to that which envelops the watercraft. In particular, the envelope is included, which "extends radially outwards" would come into contact with the inner wall of the start tube.

Unter "Fahrzeughülleninhomogenität" werden alle Bauteile und Ausbuchtungen verstanden, welche von einer gleichmäßigen Form, zum Beispiel Zigarrenform, radial und/oder axial abweichen. Beispielsweise weist ein unbemanntes Unterwasserfahrzeug Kameralampen, Werkzeughalter, Sonare oder GPS auf, welche an unterschiedlichen Positionen am Unterwasserfahrzeug angeordnet sind und welche es eben nicht ermöglichen oder es erschweren, dass das Unterwasserfahrzeug einen über die Länge hinweg gleichmäßigen Querschnitt aufweist. Diese Fahrzeuginhomogenitäten führen beispielsweise dazu, dass, wenn das Unterwasserfahrzeug in das Startrohr verbracht ist, das Unterwasserfahrzeug kippt und somit beispielsweise auf zwei Punkten aufliegt oder ein definiertes Platzieren nicht möglich ist. Zudem würde ein Ausstoßen des Unterwasserfahrzeugs aus dem Startrohr insbesondere dazu führen, dass gewisse Bauteile des Unterwasserfahrzeugs in einem schleifenden Kontakt mit dem Startrohr treten, welcher zum einen das Startrohr beschädigen oder aber das schleifende Bauteil des Unterwasserfahrzeugs beschädigen würde. Auch könnte ein Verhaken oder Abreißen etwaiger Bauteile erfolgen. Sämtliche beschriebenen Berührungs-Effekte werden vorliegend unter "unterschiedliche Kontaktbelastungen" zusammengefasst."Vehicle inhomogeneity" is understood to mean all components and bulges which deviate radially and / or axially from a uniform shape, for example a cigar shape. For example, an unmanned underwater vehicle has camera lamps, tool holders, sonars or GPS, which are arranged at different positions on the underwater vehicle and which do not make it possible or make it difficult for the underwater vehicle to have a cross section which is uniform over its length. These vehicle inhomogeneities lead, for example, to the fact that when the underwater vehicle has been placed in the launch tube, the underwater vehicle tilts and thus lies on two points, for example, or that a defined placement is not possible. In addition, ejecting the underwater vehicle from the launch tube would in particular result in certain components of the underwater vehicle coming into sliding contact with the launch tube, which would damage the launch tube on the one hand or damage the dragging component of the underwater vehicle. Any components could also get caught or torn off. All of the touch effects described are summarized here under "different contact loads".

Die "lösbare Ausgleichsform" ergänzt das Unterwasserfahrzeug insbesondere derart, dass über die lösbare Ausgleichsform das Unterwasserfahrzeug einen Kontakt mit der Innenwand des Startrohrs ausbildet. Idealerweise weist dabei die lösbare Ausgleichsform eine derart große Außenfläche auf, welche mit der Innenwand des Startrohrs in berührenden Kontakt tritt, dass ein Verfahren der "Kombination" aus unbemannten Unterwasserfahrzeugs und der Ausgleichsform zu einem definierten Verschieben beim Ausstoßen der Kombination führt. Insbesondere kann sich die lösbare Ausgleichsform über die gesamte Länge des unbemannten Unterwasserfahrzeugs und darüber hinaus erstrecken. Auch können mehrere unterschiedliche lösbare Ausgleichsformen vorgesehen sein, welche jeweils in bestimmten Abständen das unbemannte Unterwasserfahrzeug der Länge nach umfassen.The "releasable form of compensation" supplements the underwater vehicle in such a way that the detachable form of compensation unites the underwater vehicle Forms contact with the inner wall of the starting tube. Ideally, the releasable compensation form has such a large outer surface that comes into contact with the inner wall of the start tube that a method of "combination" of unmanned underwater vehicles and the compensation form leads to a defined displacement when the combination is ejected. In particular, the releasable compensation form can extend over the entire length of the unmanned underwater vehicle and beyond. Several different detachable forms of compensation can also be provided, each of which comprises the unmanned underwater vehicle lengthways at certain intervals.

Eine im Wesentlichen gleichmäßige "Kontaktbelastung" ist insbesondere dann gegeben, wenn über eine Außenfläche der lösbaren Ausgleichsform die Innenwand kontaktiert wird. Insbesondere ist dann die mit der Innenwand in Kontakt tretende Fläche größer als die Kontaktfläche, welche entstünde, wenn das unbemannte Unterwasserfahrzeug ohne lösbare Ausgleichsform die Innenwand des Startrohrs kontaktiert.A substantially uniform "contact load" is given in particular when the inner wall is contacted via an outer surface of the releasable compensation form. In particular, the area which comes into contact with the inner wall is then larger than the contact area which would arise if the unmanned underwater vehicle contacted the inner wall of the starting tube without a detachable compensation form.

Unter "lösbar" ist insbesondere zu verstehen, dass lediglich ein leichter Kontakt zwischen dem unbemannten Unterwasserfahrzeug und der Ausgleichsform besteht, welcher insbesondere dann gelöst wird, wenn die Kombination in das Verbringmedium (Luft oder Wasser) verbracht wird. Die Lösbarkeit kann sich insbesondere darauf beziehen, dass lediglich ein mechanischer Kontakt besteht, welcher durch das Verlassen des Startrohrs gelöst wird. Auch ein Klebemittel kann eingesetzt werden. In einer einfachen Ausführungsform kann es sich dabei um ein Malerklebeband handeln, welches bei geringem Kraftaufwand ohne die haltende Wirkung der Innenwand des Startrohrs die Kombination auflöst, sodass nach dem Verbringen die lösbare Ausgleichsform von dem unbemannten Unterwasserfahrzeug getrennt ist. Dieses Separieren kann beispielsweise aufgrund der Druckunterschiede, einer Federwirkung oder aufgrund dessen erfolgen, dass das Wasser ein chemisches Lösungsmittel ist.“Detachable” is to be understood in particular to mean that there is only slight contact between the unmanned underwater vehicle and the compensating form, which is particularly solved when the combination is placed in the transport medium (air or water). The releasability can relate in particular to the fact that there is only mechanical contact, which is released by leaving the starting tube. Also a 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 tube, so that after the removal the detachable compensation form is separated from the unmanned underwater vehicle. This separation can take place, for example, on the basis of the pressure differences, a spring action or on account of the fact that the water is a chemical solvent.

Lösungsgemäß weist die Startvorrichtung eine Relaiseinrichtung auf, welche mittels einer Datenaustauschleitung, insbesondere mittels eines Lichtwellenleiters, mit dem Unterwasserfahrzeug und/oder der Ausgleichsform verbunden ist, wobei die Relaiseinrichtung im Inneren des Startrohrs angeordnet ist und nach dem Ausstoßen der Kombination in ein Austrittsmedium verbracht ist.According to the solution, the starting device has a relay device which is connected to the underwater vehicle and / or the compensation form by means of a data exchange line, in particular by means of an optical waveguide, the relay device being arranged in the interior of the starting tube and being brought into an exit medium after the combination has been ejected.

Über derartige Relaiseinrichtungen erfolgt die Kommunikation mit dem unbemannten Unterwasserfahrzeug. Insbesondere kann eine derartige Relaiseinrichtung ein in Kreuzwicklung geführten Lichtwellenleiter aufweisen, welcher mit dem Unterwasserfahrzeug verbunden ist, wobei insbesondere das Unterwasserfahrzeug ebenfalls einen in Kreuzwicklung ausgeführten Wickel aufweist. Dabei kann der verbindende Lichtwellenleiter beispielsweide dünner ausgestaltet sein als ein Lichtwellenleiterkabel, welches mit dem Verbringsystem (zum Beispiel Schiff) verbunden ist. Für den Fall, dass das Unterwasserfahrzeug beispielsweise für die Mienenjagd eingesetzt wird, handelt es sich bei der Relaiseinrichtung beispielsweise um einen Absenker, welcher einen gewissen Abstand zur gefundenen Miene aufgrund seiner vertikal gerichteten Gewichtskraft und somit seiner Ortsstabilität ausbildet. Dadurch, dass die Relaiseinrichtung im Inneren des Startrohrs befindlich ist, kann diese gleichzeitig mit dem unbemannten Unterwasserfahrzeug in das Zielmedium verbracht werden.Such relay devices communicate with the unmanned underwater vehicle. In particular, such a relay device can have an optical waveguide which is guided in a cross winding and which is connected to the underwater vehicle, in particular the underwater vehicle likewise having a winding which is designed in a cross winding. The connecting optical waveguide can, for example, be made thinner than an optical waveguide cable which is connected to the delivery system (for example ship). For the If the underwater vehicle is used, for example, for mine hunting, the relay device is, for example, a lowering device which forms a certain distance from the found mine due to its vertically directed weight force and thus its stability in place. The fact that the relay device is located inside the start tube means that it can be brought into the target medium at the same time as the unmanned underwater vehicle.

In einer diesbezüglichen Ausprägungsform weist die Relaiseinrichtung eine Relaishülle mit einer Relaishülleninhomogenität auf, sodass das Ausstoßen der Relaiseinrichtung unterschiedliche Kontaktbelastungen zwischen Relaishülle und Innenwand verursacht, wobei die Relaiseinrichtung eine Relaishüllenausgleichsform aufweist, welche derart ausgestaltet ist, dass die Relaishülleninhomogenität ausgeglichen ist, sodass eine Kombination aus der Relaiseinrichtung und der Relaishüllenausgleichsform beim Ausstoßen der Relaiskombination zu einer im Wesentlichen gleichmäßigen Kontaktbelastung zwischen der Relaiskombination und der Innenwand führt.In a related embodiment, the relay device has a relay sleeve with a relay sleeve inhomogeneity, so that the ejection of the relay device causes different contact loads between the relay sleeve and the inner wall, the relay device having a relay sleeve compensation form, which is designed such that the relay sleeve non-homogeneity is balanced out, so that a combination is equalized Relay device and the relay cover compensation form when ejecting the relay combination leads to a substantially uniform contact load between the relay combination and the inner wall.

Vorliegend beruht der erfindungsgemäße Gedanke ebenfalls wieder darauf, dass die Relaiseinrichtung entsprechend auf das Startrohr angepasst wird. Die Definitionen entsprechen den zuvor getätigten Definitionen, wobei die Definitionen sich vorliegend jeweils auf die Relaiseinrichtung statt auf das Unterwasserfahrzeug beziehen. An dieser Stelle sei angemerkt, dass eine Relaishülleninhomogenität insbesondere bereits dann gegeben ist, wenn die Innenwand des Startrohrs die Relaiseinrichtung kontaktierend umfasst.In the present case, the idea according to the invention is also based again on the relay device being correspondingly adapted to the starting tube. The definitions correspond to the definitions made previously, the definitions in the present case relating to the relay device instead of to the underwater vehicle. At this point it should be noted that a Relay sleeve inhomogeneity in particular already exists when the inner wall of the starting tube comprises the relay device in contact.

Vorteilhafterweise kann dabei die Relaiseinrichtung verzögert zu dem Unterwasserfahrzeug ausgestoßen werden, sodass gewährleistet ist, dass die Relaiseinrichtung nicht durch das ausgebrachte Unterwasserfahrzeug zerstört wird. Dies kann beispielsweise dadurch realisiert werden, dass die Relaiskombination einen höheren Widerstand auf die Innenwand des Startrohrs als die Kombination ausübt.Advantageously, the relay device can be ejected to the underwater vehicle with a delay, so that it is ensured that the relay device is not destroyed by the deployed underwater vehicle. This can be achieved, for example, in that the relay combination exerts a higher resistance on the inner wall of the start tube than the combination.

In einer weiteren Ausführungsform weist oder weisen die lösbare Ausgleichsform und/oder die Relaishüllenausgleichsform zwei, drei, vier, fünf oder mehr Einzelformen auf, welche insbesondere zusammen die Ausgleichsform und/oder die Relaishüllenausgleichsform bilden.In a further embodiment, the releasable compensation form and / or the relay cover compensation form has or has two, three, four, five or more individual forms, which together form the compensation form and / or the relay cover compensation form.

Durch diese quasi "gepuzzelte" Ausgleichsform oder Relaishüllenausgleichsform kann das Separieren der Kombination oder der Relaiskombination wesentlich vereinfacht werden. Die Einzelformen können dabei insbesondere radial oder auch der Länge nach vorgesehen sein. Insbesondere im Fall, wenn der Länge nach Einzelformen die Relaishüllenausgleichsform oder die Ausgleichsform bilden, sind schräge Trennbereiche vorteilhaft, da diese beim Ausstoßen das Abgleiten der einzelnen Einzelformen und somit das Gesamtseparieren der Kombination oder der Relaiskombination erleichtern.This quasi "puzzled" compensation form or relay cover compensation form makes it much easier to separate the combination or the relay combination. The individual shapes can in particular be provided radially or lengthwise. Particularly in the case when the length of the individual forms form the relay casing compensation form or the compensation form, inclined separating areas are advantageous, since these facilitate the sliding off of the individual individual forms and thus the overall separation of the combination or the relay combination.

Um das Separieren der Kombination oder der Relaiskombination zu vereinfachen, kann oder können die Kombination und/oder die Relaiskombination ein Federelement und/oder ein Spannelement aufweisen, welches oder welche nach einem Verlassen des Startrohrs die Kombination und/oder die Relaiskombination trennt oder trennen, sodass das Unterwasserfahrzeug und/oder die Relaiseinrichtung einsatzbarbereit ist oder sind.In order to simplify the separation of the combination or the relay combination, the combination and / or the relay combination can have a spring element and / or a tensioning element which, after leaving the starting tube, separates or separates the combination and / or the relay combination, so that the underwater vehicle and / or the relay device is or are ready for use.

Ein derartiges Federelement kann dadurch vorgesehen sein, dass beispielsweise in dem unbemannten Unterwasserfahrzeug gespannte Federelemente angeordnet sind, welche die Ausgleichsform oder die Relaishüllenausgleichsform gegen die Innenwand des Startrohres pressen. Sobald die Kombination oder die Relaiskombination das Startrohr verlassen haben, ist der Gegendruck durch die Innenwand des Startrohres entfallen, sodass mithin die Ausgleichsform oder die Relaishüllenausgleichsform durch die Federelemente entfernt werden.Such a spring element can be provided in that, for example, tensioned spring elements are arranged in the unmanned underwater vehicle, which press the compensation form or the relay cover compensation form against the inner wall of the starting tube. As soon as the combination or the relay combination has left the start tube, the counterpressure through the inner wall of the start tube is eliminated, so that the compensation form or the relay cover compensation form is removed by the spring elements.

Auch eine inverse Lösung oder eine Kombination mit der ersten Lösung ist realisierbar, bei der ergänzend oder alternativ die Ausgleichsform und/oder Relaishüllenausgleichsform die Federelemente (z.B. Spiralfeder) aufweisen, welche der Hülle des Unterwasserfahrzeugs oder der Relaiseinrichtung ihre Federkraft aufprägen.An inverse solution or a combination with the first solution can also be implemented, in which, in addition or as an alternative, the compensation form and / or relay cover compensation form have the spring elements (e.g. coil spring) which impart their spring force to the cover of the underwater vehicle or the relay device.

Auch kann beispielsweise ein gespanntes (Metall)Band vorgesehen sein, welches um die Ausgleichsform und/oder die Relaishüllenausgleichsform gelegt ist. Auch hier ist dieses Band derart angeordnet, dass die Innenwand des Startrohrs der federnden Kraft des Bandes oder des Metallbandes entgegenwirkt.A tensioned (metal) band can also be provided, for example, which is about the compensation shape and / or the Relay sleeve compensation form is laid. Here, too, this band is arranged such that the inner wall of the starting tube counteracts the resilient force of the band or the metal band.

In einer diesbezüglichen Ausführungsform realisiert oder realisieren die lösbare Ausgleichsform und/oder die Relaishüllenausgleichsform das Federelement. Dies kann beispielsweise durch die Materialauswahl der Ausgleichsform oder der Relaishüllenausgleichsform erfolgen. So können beispielsweise Kunststoffe verwendet werden, welche teilreversibel komprimierbar sind. In diesem Fall kann beispielsweise die Relaishüllenausgleichsform und/oder die Ausgleichsform konisch ausgebildet sein, sodass die Kombination oder die Relaiskombination leicht in das Startrohr einführbar ist und mit dem Vortreiben in dem Rohr der Ausgleichsform durch die Innenwand des Startrohrs ein Druck aufgeprägt wird, welcher zum Komprimieren der Ausgleichsform oder der Relaishüllenausgleichsform führt. Sobald dann die Kombination oder die Relaiskombination das Startrohr verlässt, fällt dieser Druck ab und es separiert sich wiederrum die Ausgleichsform oder die Relaishüllenausgleichsform.In a related embodiment, the releasable compensation form and / or the relay cover compensation form realizes the spring element. This can be done, for example, by selecting the material for the compensation form or the relay cover compensation form. For example, plastics can be used which are partially reversibly compressible. In this case, for example, the relay sleeve compensation form and / or the compensation form can be designed conically, so that the combination or the relay combination can be easily inserted into the starting tube and, as it advances in the tube of the compensation form, a pressure is applied through the inner wall of the starting tube, which pressure is used to compress it the compensation form or the relay cover compensation form. As soon as the combination or the relay combination leaves the start tube, this pressure drops and the compensation form or the relay casing compensation form separates again.

Damit das Separieren besonders effektiv erfolgt, kann und/oder können die lösbare Ausgleichsform und/oder die Relaishüllenausgleichsform eine Widerstandsfläche und/oder eine Sollbruchstelle aufweisen, welcher in dem Austrittsmedium aufgrund einer Austrittsgeschwindigkeit der Kombination und/oder der Relaiskombination eine Kraft aufgeprägt wird, sodass die Kombination und/oder die Relaiskombination separiert wird. Dabei kann beispielsweise die Widerstandsfläche durch den Rand der Relaishüllenausgleichsform oder der Ausgleichsform gebildet werden. Wesentlich dabei ist, dass beim Ausstoßen auf die Ausgleichsform und/oder Relaishüllenausgleichsform aufgeprägter Druck dazu führt, dass ein Separieren erfolgt.So that the separation takes place particularly effectively, the releasable compensation form and / or the relay casing compensation form can have a resistance surface and / or a predetermined breaking point, which is exerted on the exit medium by a force exiting the combination and / or the relay combination, so that the force Combination and / or the Relay combination is separated. In this case, for example, the resistance surface can be formed by the edge of the relay cover compensation form or the compensation form. It is essential here that when ejected onto the compensating form and / or the relay casing compensating form, pressure results in separation.

Um die Kombination in der Startvorrichtung vor dem Einsatz trocken zu lagern, kann das Startrohr einen öffenbaren Austrittsverschluss aufweisen, welcher insbesondere steuerbar ist.In order to store the combination in the starter device dry before use, the starter tube can have an openable outlet closure, which is particularly controllable.

Somit wird der Austrittsverschluss erst im realen Einsatzfall geöffnet. Dies kann beispielsweise elektronisch erfolgen oder auch durch den eigentlichen Ausstoßvorgang der Kombination und/oder der Relaiskombination.Thus, the exit closure is only opened in real use. This can be done electronically, for example, or through the actual ejection process of the combination and / or the relay combination.

In einer weiteren Ausführungsform weist die Startvorrichtung ein Beschleunigungsmittel auf, welches in einem aktivierten Zustand der Kombination und/oder der Relaiskombination in Richtung des Auslasses eine Kraft aufprägt, sodass bei geöffnetem Auslass die Kombination und/oder die Relaiskombination in das Austrittsmedium verbracht wird.In a further embodiment, the starting device has an acceleration means which, when the combination and / or the relay combination is activated, applies 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.

Zwar kann das Ausstoßen auch dadurch erfolgen, dass das Startrohr beispielsweise über 40° gegenüber einer Horizontalen geneigt wird und aufgrund der Gravitationswirkung die Kombination in das Austrittsmedium verbracht wird, jedoch kann auch im Inneren ein Überdruck beispielsweise durch eine Explosion oder einer Pressluft erzeugt werden, welche ein "Ausblasen" der Kombination und/oder der Relaiskombination realisiert.The ejection can also take place by tilting the starting tube, for example, over 40 ° with respect to a horizontal and by virtue of the gravitational effect, the combination being brought into the outlet medium, but overpressure can also occur inside, for example due to an explosion or compressed air are generated, which realizes a "blowing out" of the combination and / or the relay combination.

Das Austrittsmedium kann vorliegend sowohl Wasser als auch Luft sein.In the present case, the exit medium can be both water and air.

In einem weiteren Aspekt wird die Aufgabe gelöst durch ein Fahrzeug, insbesondere Schiff, Boot, Unterseeboot, Hubschrauber oder Flugzeug oder Transporteinrichtung, wobei das Fahrzeug oder die Transporteinrichtung eine zuvor beschriebene Startvorrichtung aufweist.In a further aspect, the object is achieved by a vehicle, in particular a ship, boat, submarine, helicopter or aircraft or transport device, the vehicle or the transport device having a starting device described above.

Dadurch können ganz neue Szenarien für schnell umzusetzende Einsätze realisiert werden. Beispielsweise kann ein Hubschrauber ein Startrohr aufweisen, welches vertikal angeordnet ist. Durch Öffnen der steuerbaren Austrittsklappe, wirkt die Gravitation derart auf die Kombination, dass die Kombination aus dem Startrohr verbracht wird. In der Luft führt der Luftwiderstand insbesondere dazu, dass die Ausgleichsform weggeschleudert wird und das Unterwasserfahrzeug in das Wasser eintauchen kann. Insbesondere hier kann die Relaiseinrichtung eine Boje sein, welche mittels Glasfaser mit dem UUV verbunden ist und welche mittels Funk mit dem Hubschrauber oder einer Einsatzzentrale kommuniziert.This enables completely new scenarios to be implemented for quickly implemented operations. For example, a helicopter can have a starting tube which is arranged vertically. By opening the controllable outlet flap, the gravitation acts on the combination in such a way that the combination is moved out of the start tube. In the air, air resistance in particular means that the compensation form is flung away and the underwater vehicle can dive into the water. In particular here, the relay device can be a buoy, which is connected to the UUV by means of glass fiber and which communicates by radio with the helicopter or an operations center.

Durch die Transporteinrichtung kann beispielsweise sehr zügig eine Hafenüberwachung realisiert werden. In diesem Fall kann beispielsweise die Transporteinrichtung ein Container oder dergleichen sein, in dem die Startvorrichtung angeordnet ist. Werden dann beispielsweise in einem Hafenbereich Taucher oder sonstige verdächtige Aktionen detektiert, kann beispielsweise das autonome Unterwasserfahrzeug zur Aufklärung dienen. Mithin muss vorliegend lediglich eine zuvor beschriebene Startvorrichtung vergesehen sein, welche auf die unterschiedlichen Einsatzszenarien und Transportmittel angepasst werden kann. Dies stellt insbesondere eine sehr zügige und infrastrukturunabhängige Verbringmethode für unbemannte Unterwasserfahrzeuge dar.A port monitoring can be implemented very quickly, for example, by the transport device. In this case, the transport device can be a container or the like, for example, in which the starting device is arranged. Then become divers or other suspects in a port area, for example Actions detected, for example, the autonomous underwater vehicle can serve for reconnaissance. Therefore, in the present case, only a previously described starting device has to be provided, which can be adapted to the different application scenarios and means of transport. In particular, this represents a very quick and infrastructure-independent method of transportation for unmanned underwater vehicles.

Im Weiteren wird die Erfindung anhand eines Ausführungsbeispiels näher erläutert. Es zeigen

Figur 1a
eine schematische Darstellung einer Kombination aus einem ROV mit zugehöriger Ausgleichsform und zugeordnetem Startrohr in einer Seitenansicht,
Figur 1b
eine stark schematische Darstellung der Kombination aus der Figur 1a in einer Frontalansicht und
Figur 2
eine in einem Startrohr befindliche Kombination und zugehörige Relaiskombination.
The invention is explained in more detail below using an exemplary embodiment. Show it
Figure 1a
1 shows a schematic representation of a combination of an ROV with associated compensation shape and associated starting tube in a side view,
Figure 1b
a highly schematic representation of the combination of the Figure 1a in a frontal view and
Figure 2
a combination located in a start tube and associated relay combination.

Eine Startvorrichtung 101 weist ein ROV 103 und ein Startrohr 105 auf. Das Startrohr 105 hat eine Startrohrinnenwand 107 sowie eine über ein Öffnungsscharnier 273 öffenbare Öffnungsklappe 271 und eine über ein Einschubscharnier 283 öffenbare Einschubklappe 281, welche mittels eines Griffs 285 öffenbar ist.A starting device 101 has an ROV 103 and a starting pipe 105. The starting tube 105 has a starting tube inner wall 107 and an opening flap 271 which can be opened via an opening hinge 273 and an insertion flap 281 which can be opened via an insertion hinge 283 and which can be opened by means of a handle 285.

Das ROV 103 weist einen ROV-Körper 132 auf, an dessen Spitze eine Werkzeugkopf 131 und an dessen Heck Flossen 135 angeordnet sind. Auf der Oberseite weist das ROV 103 zusätzlich einen GPS-Empfänger 137 und an seiner Unterseite ein aktives Sonar 145 auf. Zur Energieversorgung sind an der Seite vier Batteriebehälter 133 eingeordnet. In einem der Batteriebehälter 133 ist im vorderen Bereich eine Kamera 139 angeordnet. Zudem ist in einem anderen Batteriebehälter 133 im vorderen Bereich eine Lampe 141 angeordnet.The ROV 103 has an ROV body 132, at the tip of which a tool head 131 and at the rear of which fins 135 are arranged. The ROV 103 also has a GPS receiver 137 on the top and an active sonar 145 on its underside. Four battery containers 133 are arranged on the side for energy supply. A camera 139 is arranged in the front area in one of the battery containers 133. In addition, a lamp 141 is arranged in another battery container 133 in the front area.

An der Außenseite des ROV 103 bildet sich eine ROV-Kontur 166 aus. Der in der Figur 1b dargestellte Abstand zwischen den eigentlichen Bauteilen und der Kontur mit dem Bezugszeichen 166 dient lediglich zur Illustration. Im realen Fall sitzt die Ausgleichsform 160 direkt an den einzelnen Stellen auf und der Übergang zwischen der Ausgleichsform 160 und dem ROV 103 bildet die eigentliche Kontur 166.An ROV contour 166 forms on the outside of the ROV 103. The Indian Figure 1b distance shown between the actual components and the contour with the reference numeral 166 is used only for illustration. In the real case, the compensation shape 160 sits directly at the individual points and the transition between the compensation shape 160 and the ROV 103 forms the actual contour 166.

Die Ausgleichsform 160 wird durch vier radiale Ausgleichsformviertel 161, 162, 163, 164 gebildet. Diese Viertel weisen eine Druckfläche (in Figur 1b schraffiert dargestellt) auf. Sobald die Kombination 201 aus Ausgleichsform 160 und ROV 103 in das Wasser verbracht werden, wird der Kontaktfläche (schraffierte Fläche in Figur 1b) ein Druck aufgeprägt.The compensation shape 160 is formed by four radial compensation shape quarters 161, 162, 163, 164. These quarters have a printing area (in Figure 1b shown hatched). As soon as the combination 201 of compensation form 160 and ROV 103 is placed in the water, the contact area (hatched area in Figure 1b ) imprinted a print.

Weiterhin weist die Ausgleichsform 160 längsangeordnete Kontaktschrägen 168 auf, über die Teile der Ausgleichsform 160 nach dem Ausstoßen abgleiten. Die Ausgleichsform 160 besteht aus einem elastischen Kunststoff.Furthermore, the compensating mold 160 has longitudinally arranged contact bevels 168, over which parts of the compensating mold 160 slide after being ejected. The Compensation mold 160 consists of an elastic plastic.

Der Umfang der Kombination 201 ist ca. 1mm größer als das Kaliber des Startrohrs 105. Im Einsatzfall ist die Kombination 201 in das Startrohr 105 durch ein Einschieben in Einschubrichtung 151 und leichtem Anpressen in das Startrohr 105 verbracht. Zwischen der Ausgleichsform 160 und der Innenwand 107 des Startrohrs 105 wird auf die Kombination 201 ein Druck aufgeprägt, welcher die Kombination 201 und das Startrohr 105 verschließt.The circumference of the combination 201 is approximately 1 mm larger than the caliber of the starting tube 105. In the application, the combination 201 is brought into the starting tube 105 by being pushed in in the direction of insertion 151 and being pressed lightly into the starting tube 105. A pressure is applied to the combination 201 between the compensating mold 160 and the inner wall 107 of the starting tube 105, which closes the combination 201 and the starting tube 105.

Im hinteren Bereich des Startrohrs 105 ist ein Absenker 291 vorgesehen, welcher als Relaisstation nach dem Verbringen dient. In dem Absenker 291 und in dem Heck des ROV's 103 sind jeweils Wickel mit in Kreuzwickelung gewickelten Glasfasern angeordnet, welche sich beim Entfernen des ROV's 103 durch die Entfernungsgeschwindigkeit und der dadurch aufgeprägten Kraft abwickeln.A lowering device 291 is provided in the rear area of the starting tube 105, which serves as a relay station after the installation. In the lowering 291 and in the rear of the ROV's 103 there are in each case coils with glass fibers wound in cross-winding, which unwind when the ROV's 103 is removed due to the removal speed and the force applied thereby.

Zusätzlich weist der Absenker 291 eine zusätzliche Glasfaserleitung auf, mit welcher eine Kommunikation des ROV's mit beispielsweise einem Schiff möglich ist. Um den Absenker 291 herum ist eine Absenkerausgleichsform 293 angeordnet, welche den Absenker 291 auf das Kaliber des Startrohrs 105 anpasst. In den hinteren Bereich des Startrohrs 105 ist ein Zugang für eine Pressluftflasche 297 vorgesehen, welcher über ein Ventil 299 mit Pressluft befüllbar ist.In addition, the sink 291 has an additional fiber optic line, with which the ROV can communicate with, for example, a ship. A lowering compensation form 293 is arranged around the lowering device 291, which adjusts the lowering device 291 to the caliber of the starting tube 105. In the rear area of the start pipe 105 there is an access for a compressed air bottle 297, which can be filled with compressed air via a valve 299.

Im Einsatzfall ist die Öffnungsklappe 271 verschlossen. Die Kombination 201 wird zuerst in das Startrohr 105 verbracht. Anschließend wird der Absenker 291 mit der Absenkerausgleichsform 293 ebenfalls in das Startrohr 105 verbracht.In use, the opening flap 271 is closed. The combination 201 is first placed in the start pipe 105. Subsequently, the lowering device 291 with the lowering device 293 is also brought into the starting pipe 105.

Im Anschluss wird die zuvor geöffnete Heckklappe 181 über das Einschubscharnier 283 händisch mittels Griff 285 verschlossen. Im Einsatzfall wird nun elektronisch über das Öffnungsscharnier 273 die Öffnungsklappe 271 vollständig geöffnet. Durch den sich dann ergebenen Auslass ist ein Übergang zu dem Austrittsmedium (Wasser), gegeben. Sobald das ROV mittels des Glasfaserkabels 295 aktiviert wurde, wird das Ventil 299 schlagartig geöffnet, sodass sich die Pressluft in der Pressluftflasche 297 in dem Heckbereich des Startrohrs 105 ausbreitet und zuerst die Kombination 201 und anschließend den Absenker 291 mit der Absenkerausgleichsform 293 aus dem Startrohr befördert.The previously opened tailgate 181 is then closed manually by means of the handle 285 via the insertion hinge 283. When in use, the opening flap 271 is now fully opened electronically via the opening hinge 273. A transition to the outlet medium (water) is provided through the outlet that then results. As soon as 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 bottle 297 spreads out in the rear area of the start pipe 105 and first the combination 201 and then the sink 291 with the sinker compensation form 293 are conveyed out of the start pipe .

Sobald die Kombination im Wasser keinem Druck durch die Innenwand 107 des Startrohrs 105 ausgesetzt ist, erfolgt eine Trennung der Ausgleichsform 160 vom ROV und eine Trennung von Absenker 291 und Absenkerausgleichsform 293. Aufgrund der Gewichtskraft, wird der Absenker 291 kurz nach dem Auslass durch die Gewichtskraft vertikal nach unten gezogen. Das dann aktivierte ROV, welches von der Ausgleichsform 160 befreit ist kann dann seine Mission durchführen.As soon as the combination in the water is not exposed to any pressure through the inner wall 107 of the start pipe 105, the compensation form 160 is separated from the ROV and the sinker 291 and sinker compensation form 293 are separated. Due to the weight, the sinker 291 becomes shortly after the outlet by the weight pulled vertically down. The then activated ROV, which is exempt from compensation form 160, can then carry out its mission.

BezugszeichenlisteReference symbol list

101101
StartvorrichtungStarting device
103103
ROVROV
105105
StartrohrStarting tube
107107
StartrohrinnenwandStarting tube inner wall
131131
WerkzeugkopfTool head
132132
ROV-KörperROV body
133133
BatteriebehälterBattery case
135135
FlossenFins
137137
GPSGPS
139139
Kameracamera
141141
Lampelamp
143143
Antriebdrive
145145
Sonarsonar
151151
EinschubrichtungDirection of insertion
160160
AusgleichsformCompensation form
161161
erstes radiales Ausgleichsformviertelfirst radial compensation form quarter
162162
zweites radiales Ausgleichsformviertelsecond radial compensation form quarter
163163
drittes radiales Ausgleichsformviertelthird radial leveling form quarter
164164
viertes radiales Ausgleichsformviertelfourth radial leveling form quarter
166166
Konturcontour
168168
KontaktschrägenBevels
201201
Kombinationcombination
271271
ÖffnungsklappeOpening flap
273273
ÖffnungsscharnierOpening hinge
281281
EinschubklappeSlide-in flap
283283
EinschubscharnierSlide-in hinge
285285
GriffHandle
291291
AbsenkerLowering
293293
AbsenkerausgleichsformLowering compensation form
295295
GlasfaserkabelFiber optic cable
297297
PressluftflascheCompressed air bottle
299299
VentilValve

Claims (8)

  1. Launching apparatus (101) for an unmanned underwater vehicle (103), in particular for an autonomous underwater vehicle or for a vehicle that operates under remote control, having a launching tube (105), which has an inner wall (107) and an outlet (271), and the unmanned underwater vehicle located in the launching tube, wherein the unmanned underwater vehicle has a vehicle shell with a vehicle-shell inhomogeneity (133, 135, 137, 143, 145) such that ejection of the unmanned underwater vehicle brings about different contact loads between vehicle shell and inner wall, wherein the unmanned underwater vehicle has a releasable compensation form (160), which is configured such that the vehicle shell inhomogeneity is compensated, so that a combination (201) of the unmanned underwater vehicle and the releasable compensation form results in a substantially uniform contact load between the combination and the inner wall during ejection of the combination,
    characterized by a relay device (291), which is connected to the underwater vehicle and/or the compensation form by means of a data communication line (295), in particular by means of an optical fibre, wherein the relay device is arranged in the interior of the launching tube and has been moved into an exit medium after the ejection of the combination,
    wherein the relay device has a relay shell with a relay shell inhomogeneity, such that the ejection of the relay device brings about different contact loads between relay shell and inner wall, wherein the relay device has a relay shell compensation form (293), which is configured such that the relay shell inhomogeneity is compensated, so that a relay combination of the relay device and the relay shell compensation form results in a substantially uniform contact load between the relay combination and the inner wall during ejection of the relay combination.
  2. Launching apparatus according to claim 1, characterized in that the releasable compensation form and/or the relay shell compensation form has or have two, three, four, five or more individual forms (161, 162, 163, 164), which in particular jointly form the compensation form and/or the relay shell compensation form.
  3. Launching apparatus according to one of the preceding claims, characterized in that the combination and/or the relay combination has or have a spring element and/or a tensioning element, which separates or separate the combination and/or relay combination after leaving the launching tube, such that the underwater vehicle and/or the relay device is or are operational.
  4. Launching apparatus according to Claim 3, characterized in that the releasable compensation form and/or the relay shell compensation form realizes or realize the spring element.
  5. Launching apparatus according to one of the preceding claims, characterized in that the releasable compensation form and/or the relay shell compensation form has or have a resistance surface and/or a predetermined breaking point (168), which is subjected to a force in the exit medium on account of an exit velocity of the combination and/or of the relay combination, such that the combination and/or the relay combination is separated.
  6. Launching apparatus according to one of the preceding claims, characterized in that the launching tube has an openable exit closure (271), which is in particular controllable.
  7. Launching apparatus according to one of the preceding claims, characterized by an acceleration means (297), which, in an activated state, subjects the combination and/or the relay combination to a force in the direction of the outlet, such that, with the outlet open, the combination and/or the relay combination is moved into the exit medium.
  8. Vehicle, in particular ship, boat, submarine, helicopter or aeroplane, or transport device, wherein the vehicle or the transport device has a launching apparatus according to one of the preceding claims.
EP15749972.4A 2014-08-12 2015-06-26 Launching device and submarine vehicle Active EP3180241B1 (en)

Applications Claiming Priority (2)

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DE102014111488.4A DE102014111488A1 (en) 2014-08-12 2014-08-12 Starting device and vehicle
PCT/DE2015/100262 WO2016023538A1 (en) 2014-08-12 2015-06-26 Launching device and submarine vehicle

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EP (1) EP3180241B1 (en)
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CN108298029B (en) * 2017-12-27 2020-02-07 中国船舶重工集团公司第七一0研究所 UUV laying and recycling protection device
NO345094B1 (en) 2018-09-21 2020-09-28 Usea As A marine structure comprising a launch and recovery system
CN110888461B (en) * 2019-12-05 2022-11-22 西安毫米波光子科技有限公司 Carrier-borne small-size fixed wing unmanned aerial vehicle gesture adjusting device that takes off
CN112684811A (en) * 2020-12-22 2021-04-20 西安精密机械研究所 UUV reciprocating type docking route control method

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US3613618A (en) * 1965-12-02 1971-10-19 Licentia Gmbh Protective sheath for torpedo control wire
DE3940583A1 (en) 1989-12-08 1991-06-13 Tech Mathematische Studiengese Tube for underwater launching of missile - is initially filled with gas at pressure corresponding to depth of water
US5666900A (en) * 1995-06-05 1997-09-16 Sippican, Inc. Method and apparatus for deploying an expendable autonomous underwater vehicle from a submarine
US6577990B1 (en) * 2000-06-12 2003-06-10 The United States Of America As Represented By The Secretary Of The Navy Method for determining launch system velocity, acceleration and displacement certification parameters
US6502528B1 (en) * 2001-08-20 2003-01-07 The United States Of America As Represented By The Secretary Of The Navy Pressure-balanced gas turbine underwater launcher
US6484618B1 (en) * 2001-10-01 2002-11-26 The United States Of America As Represented By The Secretary Of The Navy Marine countermeasures launch assembly
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JP2010190440A (en) * 2009-02-16 2010-09-02 Mitsubishi Heavy Ind Ltd Underwater navigation body launching device
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DE102010006804B4 (en) * 2010-02-04 2014-08-21 Thyssenkrupp Marine Systems Gmbh decoys
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EP3180241A1 (en) 2017-06-21
US20170233047A1 (en) 2017-08-17
DE102014111488A1 (en) 2016-02-18
WO2016023538A1 (en) 2016-02-18
US10259549B2 (en) 2019-04-16

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