EP3468859A1 - Bergevorrichtung und zugehöriges verfahren - Google Patents
Bergevorrichtung und zugehöriges verfahrenInfo
- Publication number
- EP3468859A1 EP3468859A1 EP17730733.7A EP17730733A EP3468859A1 EP 3468859 A1 EP3468859 A1 EP 3468859A1 EP 17730733 A EP17730733 A EP 17730733A EP 3468859 A1 EP3468859 A1 EP 3468859A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- recovery device
- hulls
- underwater vehicle
- autonomous underwater
- safety net
- 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.)
- Withdrawn
Links
Classifications
-
- 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
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/14—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration
- B63B2001/145—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration having means for actively varying hull shape or configuration
-
- 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
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
Definitions
- Embodiments of the present invention relate to a recovery device and to an associated method for recovering an autonomous underwater vehicle.
- Preferred embodiments relate to a catamaran or SWATH (Twin Waterplane Area Twin Hull) recovery device.
- Other embodiments relate to a corresponding recovery method.
- LARS When using AUVs, another cost driver is the launch and recovery system used on scientific vessels or surveying vessels (LARS, lau- nch and recovery systems).
- LARS have their own cranes or ramps that allow recovery up to heavy seas (e.g., level 3, 4 or higher). Costs for such LARS regularly exceed one million euros per system. Furthermore, as already mentioned above, such LARS are not applicable to any ship.
- Object of the present invention is to determine a recovery system, which in itself provides an improved compromise of cost-efficiency and operational capability and which can be used especially on conventional ships.
- Embodiments of the present invention provide a recovery device having two hulls and a (fixed) safety net arranged between the two hulls for housing an autonomous underwater vehicle.
- the safety net is lowered from a non-lowered state to a lowered state, so that the autonomous watercraft in the lowered state is receivable and transportable in the non-lowered state.
- the reverse movement from the lowered and not lowered state is then carried out during the actual recovery process.
- Embodiments of the present invention is based on the finding that the recovery device has a type of catamaran shape or a type of SWATH form, which makes it possible to recover an AUV in the space between the two hulls.
- the AUV enters between the two hulls and is then recovered by catching it by means of a catch net lowered in advance.
- This principle offers two major advantages, namely that the catamaran moves with the waves, so that an AUV can be safely and reliably salvaged even at high seas.
- the catamaran itself may be retrieved by means of a conventional crane, which is typically present on standard supply vessels, together with the already recovered AUV itself.
- Another minor advantage is that such a recovery device can then be transported together with the salvaged AUV in the same container, so that here also the space required on deck is minimized.
- the network is, for example by means of one or more electric winches / motors lowered and raised, so that here no additional action of personnel is necessary.
- the recovery device has at least one drive motor for advancing the same.
- the recovery device can also by means of the control of the recovery device, such as a rudder or starboard and port side arranged Antriebsmotor- ren or one or more drive gondolas include, so that the recovery device is largely independent of the mothership.
- control of this recovery device can be done by remote control, autonomously or by a crew of the recovery device itself.
- the two hulls are spaced from each other with a fixed distance.
- the two hulls can be pushed together in order to be able to better transport the rescue device.
- the recovery device is extended by having a winch for retrieving the AUV in the space between the two hulls.
- a winch for retrieving the AUV in the space between the two hulls.
- hooks on the AUV or on a pop-up nose can be hung in the wind.
- the recovery device itself comprises means, e.g. Eyelets, on, so that the recovery device itself can be recovered from the mothership.
- the recovery device may include means for determining position, e.g. GPS receivers include, but also means that make it possible to improve the location of the AUV, especially in underwater operation. These include e.g. Transmitter and receiver or a so-called hydrophone, e.g. forward the GPS signals under water. These transmitters and receivers or the hydrophone are arranged under the water surface and allow the location according to the principle according to USBL (ultra-short baseline) or LBL (long baseline) concepts.
- GPS receivers include, but also means that make it possible to improve the location of the AUV, especially in underwater operation.
- Transmitter and receiver or a so-called hydrophone e.g. forward the GPS signals under water.
- These transmitters and receivers or the hydrophone are arranged under the water surface and allow the location according to the principle according to USBL (ultra-short baseline) or LBL (long baseline) concepts.
- Another exemplary embodiment shows a method for recovering an autonomous underwater vehicle by means of a recovery device with two hulls and a safety net arranged between the two hulls for picking up the underwater vehicle.
- the method comprises the steps of lowering the safety net from a non-lowered state to a lowered state in which the autonomous underwater vehicle can be received in the recovery device, and lifting the safety net to a non-lowered state in which the autonomous underwater vehicle is hauled and thus transportable is.
- Fig. 1a is a schematic representation of a recovery device according to the basic embodiment
- Fig. 1 b is a schematic flow diagram for illustrating the method in
- Fig. 2a, b three-dimensional representations of the recovery device when recovering a
- FIGS. 2a and 2b further illustrations of the embodiment of FIGS. 2a and 2b for illustrating optional features.
- FIG. 1 a shows a recovery device 10 in the form of a catamaran with two hulls 12 a and 12 b and a safety net 14 arranged between the two hulls for recovering an AUV 16.
- the two hulls 12a and 12b are arranged substantially in parallel, so that a gap 12z is established between the two hulls 12a and 12b.
- the AUV 16 retract.
- the retraction can be done either from the front, ie from the bow side or from the rear, ie from aft, it is preferably also possible that the gap 12z is open on both sides.
- the mode of operation of the recovery device 10 will now be explained with reference to the recovery method 100, which is illustrated in FIG. 1 b.
- the following diagram assumes that the safety net 14 has already been lowered below the water surface (compare step 1 10 "lowering the safety net" of the method 100 for "recovery of an autonomous underwater vehicle” shown in FIG.
- the AUV 16 can be recovered by means of the network 14.
- the previously drained net 14 is then transferred from a lowered position, in which the net drives under the water surface, into a non-lowered position (compare step 120 "lifting the safety net 14"), in which the AUV 16 is retrieved in the network 14.
- the method may also include the optional step of "catching up AUVs" 130 and "AUV driving on” 130, respectively
- the network 14 extends over the entire gap 12z, i. that is, from the first fuselage 12a to the second fuselage 12a, and preferably also over the entire length of the AUV 16, and for example so that it is stretched only between the two fuselages and is open at the bow and aft ends.
- the transfer from the lowered in non-lowered position is preferably motorized, wherein by the (horizontal) lifting the network 14, the AUV is just recovered, for example, in the way that it is lifted out of the water and can be transported above the water surface ,
- the AUV 16 can be transported and then put back into the water at a later date. Since the recovery device 10 is comparable in dimensions to the AUV 16, both elements 10 and 16 behave similarly with respect to the swell. Thus, it is advantageously possible that the AUV 16 can be salvaged even in high seas. In a subsequent step, the recovery device 10 can then be obtained together with the AUV 16 on the mother ship.
- a conventional crane or a recovery device for a dinghy can be used.
- catamaran 10 are either eyelets for Hooking the catamaran 10 or even simple engagement surfaces, such as the bottom of the catamaran 10 provide over which the recovery means of the mothership catamaran 10 together with AUV 16 can recover. Since the AUV 16 is disposed in the space 12z between the two hulls 12a and 12b, the AUV 16 is outwardly protected, eg against collision with the ship's wall.
- Fig. 2a shows the recovery device 10 'with the two hulls 12a and 12b arranged in the space 12z net 14, which is in the deflated position.
- This deflated position can be seen in particular from Fig. 2b, which represents the safety net 14 as a U-shaped between the two hulls driving under the water surface 1 1 o.
- the "draft of the network 14 is selected such that the AUV 16 can enter safely.
- the fixed net 14 of the catamaran 10 and the SWATH 10 is motorized, i. e.g. lifted by means of winches so as to remove the AUV 16 from the water, i. So to carry over the water surface 1 1 o.
- FIGS. 3a and 3b Three-dimensional representations of the recovery device 10 'are shown in FIGS. 3a and 3b, with 3a showing the aft view and 3b the bow view.
- the recovery device 10 ' has the dimensions LOA 5m x LPP 4.5m, B 2,786m, T 0,430m, at ⁇ 1, 45m 3, D 1, 05m. This results in a total weight of 1, 584 1.
- Fig. 3c shows a plan view, 3d a side view and de rear view of the recovery device 10 ', wherein in each case the autonomous underwater vehicle 16 has already retracted into the intermediate space 12z.
- the recovery device 10 ' is motorized and has on each fuselage side (12a and 12b) depending on a drive motor 21 a and 21 b, here two outboards (eg two 15 hp engines or electric drives in combination with batteries or batteries). This outboard may either be pivotable to allow rudder functionality or simply be differently controlled in its output power to allow maneuvering of the recovery device 10 '.
- the recovery device 10 ' has a control station 22 by means of which the recovery device 10' can be controlled (i.e., maneuvered and the recovery operation performed).
- a second control station such as. provided on the bow side helm 23 may be provided for a second member of the ship's crew, for example, pulls the AUV in the space 12z.
- a winch 24 can also be used to pull in, by means of which a rope of the AUV 16 can be caught and caught up. Proceeding from this, then the recovery process is as follows: Catamaran 10 'is let into the water
- the catamaran 10 'hulls protect the AUV against blows against the
- each winch 14a and 14b are provided for raising and lowering the net.
- Each winch 14a and 14b can have a lifting capacity of 4.3 tons.
- each bow 12a and 12b on two eyelets by means of which the catamaran 10 'can be obtained on the mothership. These eyelets 25a-d are shown in Fig. 3b. If no AUV 16 is arranged in the gap 12z, the two hulls 12a and 12b can be pushed together according to further embodiments, as can be seen from Fig. 3f. Based on the catamaran shape, the recovery device 10 'is still safe in the water.
- the recovery device 10 may have transmitters and receivers arranged below the water surface 11, eg belonging to a hydrophone (not shown), which make it possible to support the position determination of the AUV in diving operation.
- the basis for such systems is the concept USBL (ultra-short baseline) or LBL (long baseline).
- the recovery device 10' itself may have a GPS antenna, by means of which the position in the water can be determined. This GPS antenna or position determination is then used to assist in determining the position of the AUV during the dive process by knowing the position of the recovery device 10 'from which the signals for underwater location can be transmitted and received.
- the recovery device 10 'mount device 10' may also be unmanned and be controlled for example via a radio or cable connection from the mothership. Alternatively, it would also be conceivable that an autonomous control of the recovery device is possible.
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016210128.5A DE102016210128A1 (de) | 2016-06-08 | 2016-06-08 | Bergevorrichtung und zugehöriges Verfahren |
PCT/EP2017/063979 WO2017211959A1 (de) | 2016-06-08 | 2017-06-08 | Bergevorrichtung und zugehöriges verfahren |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3468859A1 true EP3468859A1 (de) | 2019-04-17 |
Family
ID=59070634
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17730733.7A Withdrawn EP3468859A1 (de) | 2016-06-08 | 2017-06-08 | Bergevorrichtung und zugehöriges verfahren |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3468859A1 (de) |
DE (1) | DE102016210128A1 (de) |
WO (1) | WO2017211959A1 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NO345094B1 (en) | 2018-09-21 | 2020-09-28 | Usea As | A marine structure comprising a launch and recovery system |
CN113212709B (zh) * | 2021-06-09 | 2022-06-28 | 西北工业大学 | 一种基于柔性材料水下滑翔机保形回收与释放auv的装置 |
CN113895594B (zh) * | 2021-09-22 | 2023-04-07 | 中国船舶重工集团公司第七0七研究所九江分部 | 一种基于水下动态回收平台的auv回收方法 |
CN114954805B (zh) * | 2022-07-01 | 2023-12-05 | 广东海洋大学 | 一种全自动模块化auv投放回收装置 |
CN116853459B (zh) * | 2023-07-08 | 2024-04-30 | 南京审计大学 | 一种海上救援装置 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1005408A (en) * | 1910-07-25 | 1911-10-10 | Charles H Brown | Device for raising sunken vessels. |
US2384580A (en) * | 1944-06-05 | 1945-09-11 | Wertheimer Joseph | Salvaging device |
DE19626262A1 (de) * | 1996-06-29 | 1998-01-02 | Btu Cottbus | Meß- und Probennahmegerät MPG-1 "KAMA" |
JP2893172B2 (ja) * | 1996-10-17 | 1999-05-17 | 株式会社呉ダイヤ | 集塵籠制御装置を用いる水面清掃船 |
IT1316771B1 (it) * | 2000-02-18 | 2003-05-12 | Calzoni Spa | Apparecchiatura a propulsione autonoma per la presa,il bloccaggio e la movimentazione di veicoli subacquei e simili |
DE10345295A1 (de) * | 2003-02-25 | 2004-09-09 | Schulz, Günter | Verfahren und Anordnung zum Heben und Bergen eines Schiffswracks, insbesondere eines großen, schweren Schiffswracks |
US6840188B1 (en) * | 2003-06-25 | 2005-01-11 | Columbia Research Corporation | Towed transport, launch and recovery raft |
US20070006516A1 (en) * | 2005-07-11 | 2007-01-11 | Lacroix Leslie L Jr | Waterfowl retrieval device |
DE102010003433B4 (de) * | 2010-03-30 | 2011-11-17 | Institut für Sicherheitstechnik/Schiffssicherhheit e.V. | Verfahren und Vorrichtungen zur Rettung von Personen im Wasser |
WO2012148525A1 (en) * | 2011-02-16 | 2012-11-01 | Couch Iii Quest C | Catamaran with dinghy under foredeck and anchoring and mooring system |
FR2980763B1 (fr) * | 2011-09-29 | 2014-11-07 | Louis Xiberras | Dispositif permettant de reduire l'encombrement d'un catamaran pour son amarrage dans un espace reduit |
DE102011122533A1 (de) * | 2011-12-27 | 2013-06-27 | Atlas Elektronik Gmbh | Bergevorrichtung und Bergeverfahren zum Bergen von an der Wasseroberfläche eines Gewässers befindlicher kondensierter Materie |
WO2015087074A1 (en) * | 2013-12-13 | 2015-06-18 | Ensco 392 Limited | Apparatus for handling a boat |
-
2016
- 2016-06-08 DE DE102016210128.5A patent/DE102016210128A1/de not_active Ceased
-
2017
- 2017-06-08 WO PCT/EP2017/063979 patent/WO2017211959A1/de active Search and Examination
- 2017-06-08 EP EP17730733.7A patent/EP3468859A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
DE102016210128A1 (de) | 2017-12-14 |
WO2017211959A1 (de) | 2017-12-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3468859A1 (de) | Bergevorrichtung und zugehöriges verfahren | |
EP3538427A1 (de) | Bergevorrichtung | |
EP3436337B1 (de) | System und verfahren zur navigation eines autonom navigierenden tauchkörpers beim einfahren in eine fangstation | |
DE2802239A1 (de) | Teilunterwasser-wartungsschiff mit eigenantrieb | |
DE102018131113B4 (de) | Wasserfahrzeug | |
DE2516095A1 (de) | System zur erkundung und ueberwachung des meeresgrundes durch geraete mit aeusserer energieversorgung | |
EP3784557B1 (de) | Verfahren zum steuern eines schleppverbandes | |
WO2019052801A1 (de) | Aussetz-system und aussetz-verfahren mit zusammenziehbarem vorleinenausleger | |
EP3423344B1 (de) | System zum ausbringen und bergen eines unterwasserfahrzeugs | |
DE602004005961T2 (de) | Rettungsschiff für manövrierunfähige schiffe, schiffsrettungsverfahren und verwendung eines rettungsschiffs | |
WO2018224207A1 (de) | Vorrichtung und verfahren zum aufnehmen eines unterwasserfahrzeugs | |
EP3046833B1 (de) | Haltevorrichtung zur halterung eines beibootes oder eines anderen mitzuführenden anbauteils und deren verwendung | |
DE102017212126B4 (de) | System und Vorrichtung zum Bergen eines Fahrzeugs | |
WO2018087300A1 (de) | Dockingstation | |
DE102014016152B4 (de) | Vorrichtung zum Ausbringen oder Aufnehmen von Personen und schwimmfähigen Objekten | |
DE2533600C3 (de) | Wasserfahrzeug zum Aufnehmen eines schwimmenden Gegenstandes | |
DE212020000512U1 (de) | Anti-Sink-Maßnahmen für Wasserfahrzeuge | |
DE1927090U (de) | Tauchboot. | |
DE2135826A1 (de) | Unterwasserfracht-Transportsystem | |
DE102020208327A1 (de) | Transportbox zum Absetzen eines Wasserfahrzeugs | |
DE2509293A1 (de) | Bergungsverfahren und bergungsvorrichtung zum flottmachen von schiffen, die auf riffe aufgelaufen sind | |
DE764478A (de) | ||
DE102017127553A1 (de) | Aufnahmevorrichtung zum aufnehmen eines unbemannten unterwasserfahrzeugs und verfahren zum bergen eines unbemannten unterwasserfahrzeugs | |
WO2016037734A1 (de) | Verfahren und vorrichtung zum bergen eines autonomen unterwasserfahrzeugs | |
DE7340492U (de) | Wasserfahrzeugverband zum durchfuehren von unterwasserarbeiten |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20181207 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20200103 |