EP3197818B1 - Underwater cable winch for coupling and/or uncoupling an unmanned underwater vehicle, and underwater garage and underwater vehicle - Google Patents

Description

The invention relates to an underwater winch for arrival and / or uncoupling an unmanned underwater vehicle at a winch end of a winch rope of a coil direction associated control device, the winch cable and a coupling device, wherein the coupling cable is arranged on the winch cable and an underwater garage and a (sub) watercraft.

In modern reconnaissance scenarios, or even when monitoring undersea facilities, it is a major problem to recover an unmanned underwater underwater vehicle such as a remotely operated vehicle (ROV) or an autonomous underwater vehicle (AUV). Sometimes, such an unmanned underwater vehicle is first brought to the water surface, to then retrieve it with a crane or other device. The manned vessel often has to adjust its course and interrupt its usual journey.

Furthermore, it is trying to capture underwater an unmanned underwater vehicle. In particular, in a moving submarine, the problem arises that the speed of the submarine for a rear-side starting is too large, since the unmanned underwater vehicle can not reach the submarine due to its slow drive.

Even a bugseitiges catching the underwater vehicle fails because the submarine approaches the unmanned vehicle with great speed and a contact speed is too large and damage leads. In addition, then 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 US 3,757,722 A describes an underwater winch arranged on the deck of a manned submarine for retrieving a smaller manned submersible. The winch cable has a trapping ball for coupling with a corresponding coupling device of the manned underwater vehicle. The underwater winch is operated manually by a diver on the deck of the submarine.

In the US 5,642,330 A A sea state measuring system is disclosed in which a measuring buoy is raised and pulled from a submarine by means of a winch on a winch rope to or at a predetermined distance below the sea surface.

The US 2010/0192831 A1 describes a submarine with a bridge fin to which a hinged handling device with gripper for retrieving and deploying a second self-propelled submersible is attached.

The object of the invention is to improve the prior art.

The object is achieved by an underwater winch for arrival and / or decoupling 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 the coupling device is arranged on the winch cable end and the control device and the coil means are configured such that a Fiergeschwindigkeit of the coupling device with respect to a winch speed of a stationary component of the underwater winch is adjustable.

Thus, in particular a rear side of a capture device for unmanned underwater vehicles can be provided. As a result, the coupling device, despite the mechanical connection, for example, a housing of the underwater winch and the winch rope with a submarine, express a different speed to the submarine.

Thus, for example, an unmanned watercraft, 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.

The following concept is explained:

An "underwater winch" is a device that can provide a variable length of cable. In particular, such underwater winches on roles, which rolls up or unwinds by rotation of a winch rope. In particular, one end of the winch rope is firmly connected to the roller. Instead of 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 (autonomous underwater vehicle). An ROV usually still has a data and / or a supply line which connects the ROV to a ship, for example. About this line can the ROV relate data and / or energy. Different forms are possible. In the present case, 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. In general, an AUV has its own, mostly active sonar, which gains information about its environment.

A "coupling and / or decoupling" is understood in particular the process in which a physical connection of the unmanned underwater vehicle with the coupling device is dissolved 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 changing of the working length of the winch cable. It may, for example, comprise a motor which imparts rotation to the reel or reel and which winds up or unwinds a rope connected to the reel / reel.

A "coupling device" is a device which, on the one hand, can be fastened to one end of the winch cable and, on the other hand, can firmly hold the unmanned underwater vehicle. In this case, 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. Also, the coupling device may have any data interfaces, which allows communication in particular of the service vessel with the unmanned underwater vehicle. In particular, the coupling device in cooperation with the unmanned watercraft as a plug-socket system in turn, this system may again have individual plug-socket systems for power and data transfer.

"Fiergeschwindigkeit" v ₁ , v ₂ is understood in particular the speed at which changing the working length of the rope removes or approaches the coupling device of the fixed part of the underwater winch.

The "winch speed of the underwater winch" v ₀ is in particular the speed of the fixed components of the underwater winch. In the event that the underwater winch is arranged on a service vessel, the winch speed corresponds in particular to the travel speed of the service ship. By virtue of the fact that the speed of the yawing is adjustable relative to the winch speed, 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. In the present case, the signs indicate whether the coupling device moves away from or moves towards the fixed components of the underwater winch.

A "fixed component" of the underwater winch are in particular the housing, the role and the engine. Not included, for example, the coupling device, since this is relatively mobile relative to the "rest".

In another embodiment, the underwater winch on a speed sensor.

This will determine the effective speed of the fixed components of the underwater winch. In this case, in particular conventional speed sensors such as, for example, a Pt100 resistor with associated evaluation can be used. Especially in the event that at the Coupling a subsea sound transmitter is arranged and are arranged on the solid components of the underwater winch or, for example, the mission vessel hydrophones, the effective speed v _{g can be determined} for example by means of the Doppler effect. Depending on whether the speed of the coupling device directly or only the winch speed is determined, the control for extending or shortening the working length of the winch rope is set up accordingly.

In order to set the depth below the water level for the coupling device, the coupling device can buoyancy elements, in particular adjustable buoyancy elements, and / or have a drive.

Thus, a change in height can be made in order 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. In addition, it is possible to maneuver the coupling device to the sea surface, where appropriate to record position data or to receive or send a communication message. Also or alternatively, it 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 be, for example, adjustable wing-like components with which lead through the flow to an up or down. A dedicated drive can speed up the process in particular.

Thus the active sonar of the unmanned underwater vehicle an optimal signal for the Docking maneuver receives, the coupling device may have an underwater sound reflection material and / or a sound transducer and / or an optical reflection material and / or a light source, in particular LED having. In the event that a sound transducer is used, the unmanned underwater vehicle can only have a passive sonar.

An "underwater sound reflection material" reflects particularly well underwater sound certain frequency ranges, so that the sonar of the unmanned underwater vehicle can detect the coupling device optimal. In particular, the sound transducer may be a projector, which at regular intervals sets up a so-called ping. Because a plurality of these sound transducers are arranged, a spatial "image" can be generated, which facilitates the Ankoppelmanöver.

The "optical reflection material" is in particular a reflective element, such as a cat's eye. The light source can be formed in particular by a plurality of individual light sources, which can give a (double) camera a spatial impression. The camera can be arranged in particular on the unmanned underwater vehicle.

Thus, an optical detection and coupling can be realized because consequently the underwater winch and / or the unmanned underwater vehicle together or individually have a light-emitting system for noiseless finding and coupling the unmanned underwater vehicle to the coupling device.

In a further state of expression, light sources, for example lasers, can be arranged such that the unmanned Underwater vehicle based on optical procedures and camera performs the docking (low noise).

In order to obtain a so-called "fix" or to receive or send messages, the coupling device may comprise a position-determining 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.

In a further embodiment, the winch cable has a supply line and / or a data line.

Thus, a supply of the unmanned underwater vehicle and / or the coupling device with example energy or data can be ensured.

In particular, to inspect whether the unmanned underwater vehicle has damage, unwanted appendages, such as nets or accumulated scrap, or the like, the underwater winch may include a monitoring system. In this case, the monitoring system can be arranged both on the solid components and on the coupling device. In particular, the monitoring system comprises an optical camera and an associated illumination device, so that an optimal view can be ensured.

In a further embodiment, the unmanned underwater vehicle is coupled to the coupling device.

Thus, a system of underwater winch and unmanned underwater vehicle can be provided.

In an additional aspect, the object is achieved by an underwater garage having a previously described underwater winch.

Through this underwater garage, for example, the dirt accumulation on the underwater winch and / or on the unmanned underwater vehicle can be prevented. In addition, particularly in the event that the underwater garage is attached to a watercraft such as a submarine, the flow characteristics can be improved.

In a further aspect, the object is achieved by a watercraft, in particular submarine, which has a previously described underwater winch and / or an underwater garage described above.

Figur 1

eine schematische Darstellung einer an einem U-Boot angeordneten Unterwasserseilwinde, an welche ein AUV angekoppelt wird.

Furthermore, the invention will be explained in more detail with reference to an embodiment. It shows the

FIG. 1

a schematic representation of a submarine winch arranged on a submarine, to which an AUV is coupled.

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).

In the middle of the winch 101, a rotatably mounted roller 102 is arranged. 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.

Furthermore, 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. In addition, 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. In addition, the coupling member 111 at its ends on several sounder 113, which emit regular sound signals of certain frequencies. In addition, a GPS antenna is arranged on the coupling member 111. Furthermore, 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.

In the present case, the AUV 121 was on an autonomous mission on the road and should be introduced in the present case to the submarine 131 again.

The speed of the submarine 131 is transmitted via the data line to the controller 107 as a value. In addition, 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.

Furthermore, the coupling member 111 with a first Fiergeschwindigkeit v ₁ , which is greater than the speed of travel of the submarine v ₀ drained rear side.

As soon as the coupling process is indicated, the coupling speed v _{2 is} adjusted by means of the motor 105 in such a way that a resulting velocity v _g results, so that from the point of view of the AUV 121 the coupling element 111 moves away at a speed of 1kn.

The AUV 121 in turn determines by means of its sonar 125 the position emitted by the sounder 113 position data of the coupling member 111 and adjusts both height 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.

Once this is done, the AUV 121 is secured by the coupling member 111 by a locking device (not shown). Subsequently, 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. Once the coupling member 111 is in its final position, the AUV 121 is retrieved and stowed in an underwater garage (not shown).

LIST OF REFERENCE NUMBERS

101

winch

102

role

103

rope

105

engine

107

control

109

hydrophone

111

coupling member

113

sounder

115

GPS antenna

121

AUV (autonomous underwater vehicle)

123

drive

125

sonar

131

Submarine

Claims (11)

1. Underwater rope winch (101) for coupling and/or uncoupling an unmanned underwater vehicle (121) to a winch rope end of a winch rope (103) having a control device (107), which is associated to a coiling device (105), having the winch rope and having a coupling device (111), wherein the coupling device is arranged at the winch rope end, characterized in that the control device and the coiling device are arranged such that a veering speed of the coupling device is adjustable with respect to a winch speed of a stationary part of the underwater rope winch.
2. Underwater rope winch according to Claim 1, characterized by a speed sensor (113, 109).
3. Underwater rope winch according to one of the preceding claims, characterized in that the coupling device comprises buoyancy elements, in particular adjustable buoyancy elements, and/or a drive.
4. Underwater rope winch according to one of the preceding claims, characterized in that the coupling device comprises an underwater sound reflection material and/or a sound transducer (113) and/or an optical reflection material and/or a light source, in particular an LED.
5. Underwater rope winch according to one of the preceding claims, characterized in that the coupling device comprises a position determination device (115) and/or a communication device.
6. Underwater rope winch according to one of the preceding claims, characterized in that the winch rope comprises a feed line and/or a data line.
7. Underwater rope winch according to one of the preceding claims, characterized by a monitoring system, in particular an optical camera.
8. Underwater rope winch according to one of the preceding claims, characterized by a light-emitting system for soundlessly locating and coupling the unmanned underwater vehicle to the coupling device.
9. Underwater rope winch according to one of the preceding claims, characterized in that the unmanned underwater vehicle is coupled to the coupling device.
10. Underwater garage which comprises an underwater rope winch according to one of the preceding claims.
11. Watercraft (131), in particular submarine, which comprises an underwater rope winch according to one of Claims 1 to 9 and/or an underwater garage according to Claim 10.

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