EP3197818A1 - Treuil sous-marin pour l'accouplement et/ou le désaccouplement d'un véhicule sous-marin sans pilote ainsi que garage sous-marin et véhicule sous-marin - Google Patents

Treuil sous-marin pour l'accouplement et/ou le désaccouplement d'un véhicule sous-marin sans pilote ainsi que garage sous-marin et véhicule sous-marin

Info

Publication number
EP3197818A1
EP3197818A1 EP15756341.2A EP15756341A EP3197818A1 EP 3197818 A1 EP3197818 A1 EP 3197818A1 EP 15756341 A EP15756341 A EP 15756341A EP 3197818 A1 EP3197818 A1 EP 3197818A1
Authority
EP
European Patent Office
Prior art keywords
underwater
winch
coupling device
coupling
unmanned
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15756341.2A
Other languages
German (de)
English (en)
Other versions
EP3197818B1 (fr
Inventor
Sven-Christian Hesse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Publication of EP3197818A1 publication Critical patent/EP3197818A1/fr
Application granted granted Critical
Publication of EP3197818B1 publication Critical patent/EP3197818B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
    • B66D1/525—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
    • 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

Definitions

  • Underwater winch for attaching and / or uncoupling an unmanned underwater vehicle and underwater garage and underwater vehicle
  • the invention relates to an underwater winch for arrival and / or uncoupling an unmanned vehicle
  • Underwater vehicle fails because the submarine approaches the unmanned vehicle at high speed and a contact speed is too great and leads to damage.
  • the unmanned vehicle must be captured first in the vicinity of his drive first, which means that the Einfangsroutinen are technically complicated to design, for example, the sonar of the unmanned watercraft can not be used and the control and control power submarine side must be done.
  • the object of the invention is to improve the state of the art.
  • Underwater winch for arrival and / or uncoupling an unmanned underwater vehicle at a winch end of a winch rope with a coil device associated control device, the winch cable and a coupling device, wherein at the winch end the coupling device is arranged and the control device and the coil device are configured such that a Fier speed of the coupling device with respect to a winch speed of a fixed component of the underwater winch is adjustable.
  • Capture device for unmanned underwater vehicles are provided.
  • the coupling device despite the mechanical connection, for example, via a housing of the underwater winch and the winch rope with a submarine, express a different speed to the submarine.
  • a coupling device can be provided, which, for example, only at a speed of 1 kn removed. This speed is easily compensated by the drive of the unmanned underwater vehicle, so that a coupling process can be done by the unmanned underwater vehicle. At the same time, however, the submarine can travel at a higher speed, for example.
  • An "underwater winch” is a device that can provide a variable length of cable, and more particularly, such
  • Underwater winches roll up, which winds up or rolls off a winch rope by rotation.
  • one end of the winch rope is firmly connected to the roller.
  • a roll and a reel or the like can be used.
  • An "unmanned underwater vehicle” is in particular a ROV (remotely operated vehicle) or AUV (autonomuous underwater vehicle).
  • An ROV usually still has a data and / or a supply line which connects the ROV to a ship, for example.
  • the ROV can receive data and / or energy via this line.
  • Different forms are possible.
  • an ROV is also assumed, if it is connected to the service vessel only by means of a fiber-optic cable for data exchange.
  • An AUV in contrast, maneuvers autonomously, that is, it has no physical connection with the mission vessel.
  • an AUV has its own, mostly active sonar, which gains information about its environment.
  • Connecting and / or uncoupling is understood in particular to mean the process in which a physical connection of the unmanned underwater vehicle with the coupling device is achieved or established.
  • a "winch rope” is a rope that is changed in particular by being wound up in its effectively provided working length.
  • a “winding device” is a device that converts the working length of the winch cable, for example, it may include a motor that imparts rotation to the roller or reel, and thereby open or close a rope connected to the reel is handled.
  • a “coupling device” is a device which on the one hand attached to one end of the winch cable and on the other record the unmanned underwater vehicle firmly can.
  • the coupling device can have releasable holding elements, which can couple into the unmanned underwater vehicle, for example, in order to lock or unlock the unmanned underwater vehicle.
  • the coupling device may have any data interfaces, which allows communication in particular of the service vessel with the unmanned underwater vehicle.
  • the coupling device can be understood in conjunction with the unmanned watercraft as a plug-socket system, this system in turn can have individual plug-socket systems for power and data transfer.
  • the "winch speed of the underwater winch” v 0 is in particular the speed of the fixed components of the underwater winch
  • the winch speed corresponds in particular to the speed of the mission vessel the winch speed is adjustable
  • an effective speed v g of the coupling device can be provided which "sees" the unmanned underwater vehicle.
  • the effective velocity v g can take in particular values between -5 kn and +5 kn.
  • the signs indicate in the present case, whether the coupling device of the fixed Components of the underwater winch or moved towards this.
  • a "stationary component" of the underwater winch is, in particular, the housing, the roller and the motor, not including, for example, the coupling device, since it is movable relative to the "rest".
  • the underwater winch has a speed sensor.
  • Speed sensors such as a Pt100 resistor with associated evaluation can be used.
  • the effective speed v g can be determined, for example, by means of the Doppler effect.
  • the control for extending or shortening the working length of the winch rope is set up accordingly.
  • the coupling device buoyancy elements in particular adjustable
  • Buoyancy elements and / or have a drive.
  • a height change can be made to shorten the coupling process in time and / or perform the coupling process at different depths of the unmanned underwater vehicle, so that, for example, the height of the coupling device for the unmanned underwater vehicle is set optimally.
  • Receive or send communication message is ensured via the flying height of the coupling device that there is sufficient distance between the coupling device and the stern of the submarine in order to avoid a collision of the coupling device and / or the unmanned underwater vehicle with the stern of the submarine.
  • the "buoyancy elements” can, for example, be adjustable wing-like components with which the flow leads to an upward or downward movement, while a separate drive can accelerate the process in particular.
  • the coupling device can be an underwater sound reflecting material and / or a
  • the unmanned underwater vehicle can only have a passive sonar.
  • An "underwater sound reflecting material" particularly reflects underwater sound of certain frequency ranges, so that the sonar of the unmanned underwater vehicle can optimally detect the coupling device
  • the sound transducer can be, in particular, a projector which places a so-called ping at regular intervals in that a plurality of these sound transducers are arranged, a spatial "image" can be generated which facilitates the coupling maneuver.
  • the "optical reflection material” is in particular a reflecting element, such as a cat's eye
  • the (Double) camera can give a spatial impression.
  • the camera can be arranged in particular on the unmanned underwater vehicle.
  • an optical locating and coupling can be realized because thus the underwater winch and / or the unmanned underwater vehicle together or individually a light-emitting system for noiseless finding and coupling the unmanned
  • light sources for example lasers
  • the unmanned underwater vehicle based on optical methods and camera docking
  • the coupling device may comprise a position determination device and / or a communication device.
  • the position determining device may in particular be a GPS sensor which evaluates the position on the basis of satellite data.
  • the communication device can furthermore be a radio transmitting and receiving device which receives or transmits messages via a satellite, for example.
  • the winch cable has a supply line and / or a data line.
  • the underwater winch may include a monitoring system. It can do that
  • Monitoring system may be arranged both on the solid components and on the coupling device.
  • the monitoring system comprises an optical camera and an associated illumination device, so that an optimal view can be ensured.
  • the unmanned underwater vehicle is coupled to the coupling device.
  • the object is achieved by an underwater garage having a previously described underwater winch.
  • the dirt accumulation on the underwater winch and / or on the unmanned underwater vehicle can be prevented.
  • the flow characteristics can be improved.
  • the object is achieved by a watercraft, in particular a submarine, which has a previously described underwater winch and / or an underwater garage described above.
  • Figure 1 is a schematic representation of a arranged on a submarine
  • a winch 101 is fixed to a submarine 131.
  • the winch 101 is powered by the submarine 131 (not shown) and has a bidirectional data line (not shown).
  • a rotatably mounted roller 102 is arranged in the middle of the winch 101. In this role 102, one end of the rope 103 is firmly clamped. At the other end of the cable 103, a coupling member 111 is arranged.
  • the winch 101 stationary multiple hydrophones 109, a motor 105 and a controller 107.
  • the motor 105 is designed in such a way that a defined rotational speed and / or torque can be impressed on the roller 102.
  • the winch 101 has a displacement sensor (not shown) which determines the change in length of the working length of the cable 103.
  • the path length sensor comprises markings arranged on the roll, which are optically interrogated by means of LEDs.
  • the coupling member 111 is shaped so that the nose of an AUV 121 can be optimally received.
  • the coupling member 111 at its ends on several sounder 113, which emit regular sound signals of certain frequencies.
  • a GPS antenna is arranged on the coupling member 111.
  • 111 rotatable wings are arranged on the coupling member, which cause an increase or decrease at a given flow.
  • the AUV 121 has an active sonar 125 and an AUV drive 123. [45] In the present case, the AUV 121 was on an autonomous mission on the road and should in the present case be brought to the submarine 131 again.
  • the speed of the submarine 131 is transmitted via the data line to the controller 107 as a value.
  • the winch 101 determines the distance and the speed of the coupling member 111 based on the sound emitted by sounders underwater sound waves defined frequency. Based on the measured frequency and the known frequency, the distance rate is determined by the Doppler effect.
  • the coupling member 111 is discharged at the rear with a first Fier Ober vi, which is greater than the travel speed of the submarine v 0 .
  • the coupling speed v 2 is adjusted by means of the motor 105 so that a resulting velocity v g results, so that from the point of view of the AUV s 121, the coupling element 111 moves away at a speed of lkn.
  • the AUV 121 determines by means of its sonar 125 the position emitted by the sounder 113 position data of the coupling member 111 and adjust both altitude and its own drive 123 its speed V AUV .
  • the speed is slowly reduced from 5 knots to 1.5 knots until the AUV 121 makes physical contact with the coupling link 111.
  • the AUV 121 is fastened by the coupling member 111 by a locking device (not shown).
  • the motor 105 of the roller 102 imparts a different direction of rotation and pulls the AUV 121 together with the coupling member 111 during the further travel of the submarine 131.
  • the coupling member 111 is in its final position, the AUV 121 is retrieved and stowed in an underwater garage (not shown).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un treuil sous-marin, destiné à l'accouplement et/ou au désaccouplement d'un véhicule sous-marin sans pilote à une extrémité d'un câble de treuil, qui comprend un dispositif de commande associé à un dispositif d'enroulement, le câble du treuil et un dispositif d'accouplement ; le dispositif d'accouplement est disposé à l'extrémité du câble du treuil ; le dispositif de commande et le dispositif d'enroulement sont configurés de telle sorte que la vitesse de filage du dispositif d'accouplement peut être réglée par rapport à la vitesse du treuil sous-marin.
EP15756341.2A 2014-09-26 2015-07-27 Treuil sous-marin pour l'accouplement et/ou le désaccouplement d'un véhicule sous-marin sans pilote ainsi que garage sous-marin et véhicule sous-marin Active EP3197818B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014113984.4A DE102014113984A1 (de) 2014-09-26 2014-09-26 Unterwasserseilwinde zum An- und/oder Abkoppeln eines unbemannten Unterwasserfahrzeuges sowie Unterwassergarage und Unterwasserfahrzeug
PCT/DE2015/100316 WO2016045657A1 (fr) 2014-09-26 2015-07-27 Treuil sous-marin pour l'accouplement et/ou le désaccouplement d'un véhicule sous-marin sans pilote ainsi que garage sous-marin et véhicule sous-marin

Publications (2)

Publication Number Publication Date
EP3197818A1 true EP3197818A1 (fr) 2017-08-02
EP3197818B1 EP3197818B1 (fr) 2018-09-26

Family

ID=54011467

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15756341.2A Active EP3197818B1 (fr) 2014-09-26 2015-07-27 Treuil sous-marin pour l'accouplement et/ou le désaccouplement d'un véhicule sous-marin sans pilote ainsi que garage sous-marin et véhicule sous-marin

Country Status (5)

Country Link
EP (1) EP3197818B1 (fr)
DE (1) DE102014113984A1 (fr)
IL (1) IL250491B (fr)
SG (1) SG11201701751WA (fr)
WO (1) WO2016045657A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3757722A (en) * 1972-04-21 1973-09-11 Us Navy Submersible submersible underway docking unit
DD299720A7 (de) * 1988-12-01 1992-05-07 Peene Werft Wolgast Veb Anordnung zur automatischen Tiefensteuerung geschleppter Unterwasserkörper
US5642330A (en) * 1994-05-02 1997-06-24 The United States Of America As Represented By The Secretary Of The Navy Sea state measuring system
US6390012B1 (en) * 1999-09-20 2002-05-21 Coflexip, S.A. Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle
FR2917708B1 (fr) * 2007-06-19 2009-09-18 Dcn Sa Sous-marin equipe d'un dispositif de largage et de recuperation d'un engin sous-marin secondaire
US8145369B1 (en) * 2007-11-01 2012-03-27 Vehicle Control Technologles, Inc. Docking apparatuses and methods
DE102010056539A1 (de) * 2010-12-29 2012-07-05 Atlas Elektronik Gmbh Kopplungskopf, Kopplungseinrichtung mit Kopplungskopf, daran ankoppelbarer Rendezvouskopf, Rendevouseinrichtung mit Rendezvouskopf, Unterwasserfahrzeug damit, Kopplungssystem, Kopplungsverfahren und Einsatzverfahren für ein Unterwasserfahrzeug

Also Published As

Publication number Publication date
EP3197818B1 (fr) 2018-09-26
IL250491A0 (en) 2017-03-30
DE102014113984A1 (de) 2016-03-31
IL250491B (en) 2020-08-31
WO2016045657A1 (fr) 2016-03-31
SG11201701751WA (en) 2017-04-27

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