EP3197818B1 - 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 Download PDF

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Publication number
EP3197818B1
EP3197818B1 EP15756341.2A EP15756341A EP3197818B1 EP 3197818 B1 EP3197818 B1 EP 3197818B1 EP 15756341 A EP15756341 A EP 15756341A EP 3197818 B1 EP3197818 B1 EP 3197818B1
Authority
EP
European Patent Office
Prior art keywords
underwater
winch
rope
coupling
coupling device
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
EP15756341.2A
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German (de)
English (en)
Other versions
EP3197818A1 (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
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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
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Publication of EP3197818A1 publication Critical patent/EP3197818A1/fr
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Publication of EP3197818B1 publication Critical patent/EP3197818B1/fr
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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

  • 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.
  • ROV remotely operated vehicle
  • AVS autonomous underwater vehicle
  • ROV remotely operated vehicle
  • UAV autonomous underwater vehicle
  • 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.
  • a sea state measuring system 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 Fier autism of the coupling device with respect to a winch speed of a stationary component of the underwater winch is adjustable.
  • a rear side of a capture device for unmanned underwater vehicles can be provided.
  • 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.
  • 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.
  • such underwater winches on roles, which rolls up or unwinds by rotation of a winch rope.
  • 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 (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.
  • 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.
  • 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.
  • 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 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.
  • 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 travel speed of the service ship.
  • 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 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”.
  • the underwater winch on a speed sensor.
  • 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.
  • 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 can buoyancy elements, in particular adjustable buoyancy elements, and / or have a drive.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • light sources for example lasers
  • the unmanned Underwater vehicle based on optical procedures and camera performs the docking (low noise).
  • 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.
  • the winch cable has a supply line and / or a data line.
  • the underwater winch may include a monitoring system.
  • the monitoring system can 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 submarine, which has a previously described underwater winch and / or an underwater garage described above.
  • 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.
  • 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.
  • 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 with a first Fier Marie v 1 which is greater than the speed of travel of the submarine v 0 drained rear side.
  • 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 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.
  • 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).

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)

Claims (11)

  1. Treuil à câble sous-marin (101) destiné à accoupler et/ou à dételer un véhicule sous-marin (121) sans équipage à une extrémité de câble de treuil d'un câble de treuil (103), comprenant un dispositif de commande (107) associé à un dispositif de bobinage (105), comprenant le câble de treuil et comprenant un dispositif d'accouplement (111), le dispositif d'accouplement étant monté à l'extrémité de câble de treuil, caractérisé en ce que le dispositif de commande et le dispositif de bobinage sont configurés de telle sorte qu'une vitesse de filage du dispositif d'accouplement est réglable en référence à une vitesse de dévidage d'un élément structural en position fixe du treuil à câble sous-marin.
  2. Treuil à câble sous-marin selon la revendication 1, caractérisé par un capteur de vitesse (113, 109).
  3. Treuil à câble sous-marin selon l'une des revendications précédentes, caractérisé en ce que le dispositif d'accouplement possède des éléments de flottaison, notamment des éléments de flottaison ajustables, et/ou un mécanisme d'entraînement.
  4. Treuil à câble sous-marin selon l'une des revendications précédentes, caractérisé en ce que le dispositif d'accouplement possède un matériau réfléchissant des sons sous-marins et/ou un transducteur acoustique (113) et/ou un matériau réfléchissant optique et/ou une source de lumière, notamment une LED.
  5. Treuil à câble sous-marin selon l'une des revendications précédentes, caractérisé en ce que le dispositif d'accouplement possède un dispositif de détermination de position (115) et/ou un dispositif de communication.
  6. Treuil à câble sous-marin selon l'une des revendications précédentes, caractérisé en ce que le câble de treuil possède une ligne d'alimentation et/ou une ligne de données.
  7. Treuil à câble sous-marin selon l'une des revendications précédentes, caractérisé par un système de surveillance, notamment une caméra optique.
  8. Treuil à câble sous-marin selon l'une des revendications précédentes, caractérisé par un système émetteur de lumière servant à rechercher sans bruit et à accoupler le véhicule sous-marin sans équipage au dispositif d'accouplement.
  9. Treuil à câble sous-marin selon l'une des revendications précédentes, caractérisé en ce que le véhicule sous-marin sans équipage est accouplé au dispositif d'accouplement.
  10. Garage sous-marin, lequel possède un treuil à câble sous-marin selon l'une des revendications précédentes.
  11. Véhicule aquatique (131), notamment sous-marin, qui possède un treuil à câble sous-marin selon l'une des revendications 1 à 9 et/ou un garage sous-marin selon la revendication 10.
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 EP3197818A1 (fr) 2017-08-02
EP3197818B1 true EP3197818B1 (fr) 2018-09-26

Family

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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

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
IL250491A0 (en) 2017-03-30
DE102014113984A1 (de) 2016-03-31
EP3197818A1 (fr) 2017-08-02
IL250491B (en) 2020-08-31
WO2016045657A1 (fr) 2016-03-31
SG11201701751WA (en) 2017-04-27

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