EP3640130A1 - Sluice system and method for setting and receiving a diver under water - Google Patents

Abstract

The present invention relates to an underwater vehicle with a lock system and a method for releasing a diver under water. The invention further relates to an underwater vehicle with a lock system and a method for receiving at least one diver under water. A fluid can be conducted into the lock (1) through a fluid connection (11, 12). A fluid pressure sensor (S2) measures a quantity that correlates with the pressure of a fluid in the lock (1). Depending on signals from the fluid pressure sensor (S2), a controller (3, 4) controls a flow rate setting unit with the aim of regulating the measured fluid pressure in the upper range (L) until it reaches a target value for the Is fluid pressure. The controlled flow rate setting unit (V2, V3) controls the flow rate of fluid through the fluid connection (11, 12) into the lock (1). A state can preferably be established in which a lower region (W) of a lock (1) of the lock system is filled with water and an upper region (L) with air.

Description

The invention relates to an underwater vehicle with a lock system and a method for discharging at least one diver under water. The invention further relates to an underwater vehicle with a lock system and a method for receiving at least one diver under water.

In WO 03/097445 A1 describes a transport system for divers, which comprises an escort vehicle and a diving capsule 10. The diving capsule has a floating body 12 with a hatch and a chamber 14. The chamber 14 of the floating body 12 can accommodate a diver. A pressure relief device can bring the pressure in the chamber to normal pressure.

The object of the invention is to provide an underwater vehicle with the features of the preamble of claim 1 and a method with the features of the preamble of claim 18, which make it easier to achieve a predetermined goal when releasing a diver from the underwater vehicle. Furthermore, the invention has for its object to provide an underwater vehicle with the features of the preamble of claim 23 and a method with the features of the preamble of claim 25, which make it easier to achieve a predetermined goal when taking a diver into the underwater vehicle.

This object is achieved by an underwater vehicle with the features specified in claim 1 and in claim 23 and a method with the features specified in claim 18 and in claim 25. Advantageous further developments result from the subclaims, the following description and the drawings.

The underwater vehicle according to the invention for discharging a diver comprises a lock system which is designed to discharge at least one diver under water.

• eine Schleuse zum Ausschleusen des oder mindestens eines Tauchers,
• eine erste Fluidverbindung,
• eine erste Fließraten-Einstellungs-Einheit,
• einen Regler und
• einen Fluiddruck-Sensor.

This lock system includes

• a lock to discharge the or at least one diver,
• a first fluid connection,
• a first flow rate adjustment unit,
• a regulator and
• a fluid pressure sensor.

A fluid can be introduced into the lock through the first fluid connection. The first flow rate setting unit can be controlled and is able to set the flow rate of fluid through the first fluid connection into the lock to a value predetermined by the control.

The fluid pressure sensor can measure a quantity. This measured quantity correlates with the pressure of a fluid in the lock. The fluid in the lock, the pressure of which is measured, may be the same fluid as the fluid that has flowed into the lock through the first fluid connection, or a different fluid.

The controller can automatically control the first flow rate setting unit, depending on signals from the fluid pressure sensor. The controller is able to control the first flow rate setting unit with the control target that the measured fluid pressure in the lock increases until it is equal to a target value for the fluid pressure. This target value is predetermined or measured or calculated.

• Der oder jeder auszuschleusende Taucher begibt sich aus dem Unterwasserfahrzeug in die Schleuse.
• Ein Fluid wird durch die erste Fluidverbindung hindurch in die Schleuse hinein geleitet.
• Der Fluiddruck-Sensor misst eine Größe, die mit dem Druck eines Fluid in der Schleuse korreliert.
• Der Regler steuert abhängig von Signalen des Fluiddruck-Sensors automatisch die erste Fließraten-Einstellungs-Einheit mit dem Regelungs-Ziel an, dass der gemessene Fluiddruck ansteigt, bis er gleich dem Zielwert für den Fluiddruck ist.
• Die angesteuerte erste Fließraten-Einstellungs-Einheit stellt entsprechend der Ansteuerung die Fließrate von Fluid durch die erste Fluidverbindung hindurch in die Schleuse auf einen vorgegebenen oder berechneten Fließraten-Wert ein.

The method according to the solution for releasing a diver is carried out using a lock system according to the solution on board the underwater vehicle and comprises the following steps:

• The diver to be diverted goes out of the underwater vehicle into the lock.
• A fluid is passed through the first fluid connection into the lock.
• The fluid pressure sensor measures a quantity that correlates with the pressure of a fluid in the lock.
• Depending on signals from the fluid pressure sensor, the controller automatically controls the first flow rate setting unit with the control objective that the measured fluid pressure increases until it is equal to the target value for the fluid pressure.
• The controlled first flow rate setting unit adjusts the flow rate of fluid through the first fluid connection into the lock to a predetermined or calculated flow rate value in accordance with the control.

The invention ensures that the fluid pressure rises until the fluid pressure reaches the predetermined or calculated target value. The risk is reduced that the fluid pressure in the lock increases to a target value that is too large or too small. This reduces the risk of the diver suffering health damage in the lock or after being released due to incorrect fluid pressure.

Thanks to the invention, this requirement can be achieved automatically, that is to say without a human being actuating the flow rate setting unit or reading a sensor value. This reduces the risk of a human being making a mistake and endangering the diver. However, the invention enables a person to perform an intervention and to overwrite the intervention of the controller.

The specified goal when discharging can consist of optimizing the process of discharging in terms of the time required and / or the pressure curve. Accordingly, the given goal when recording can consist of optimizing the process of recording.

In one embodiment of the invention, the underwater vehicle comprises a water pressure sensor for discharging a diver. The water pressure sensor can measure a quantity which is correlated with the pressure of the water surrounding the underwater vehicle. The controller can calculate the target value depending on a signal from the water pressure sensor.

This configuration saves the need for a crew member of the underwater vehicle to manually set the target value. Of course, a crew member can overwrite an automatically calculated target value by user input. This enables the controller to use the pressure of the water surrounding the underwater vehicle as the target value. This pressure of the surrounding water and thus the target value depends on the current diving depth of the underwater vehicle as well as on the water temperature and to a lesser extent on the salinity of the water.

This configuration makes it possible to automatically establish and maintain a fluid pressure in the lock which is equal to the water pressure of the surrounding water. The risk of the diver suffering from health damage is further reduced.

According to the solution, the controller can control the first flow rate setting unit. In one configuration, the controller can control it in such a way that the increase in the fluid pressure in the lock fulfills a predetermined secondary condition. The secondary condition is, for example, that the increase in fluid pressure remains below a predetermined limit, so that a diver is not endangered. The risk is further reduced that the diver suffers from the so-called diving disease or a baro-trauma or other health impairment which can occur if the surrounding fluid pressure rises or falls too much, especially if this fluid is air, the pressure of which changes rapidly can.

In one embodiment, at least one pressure curve is stored in a data memory of the controller, for example by storing several support points or a function. The or each stored pressure curve specifies a required time curve of the increasing fluid pressure in the lock. According to the solution, the controller controls the first flow rate setting unit as a function of signals from the fluid pressure sensor. According to the configuration with the pressure profile, the fluid pressure sensor measures a time profile of the correlating variable. The regulator is able to control the first flow rate setting unit with the control goal that the measured actual time profile of the rising fluid pressure is equal to or a stored required time pressure profile.

This configuration further reduces the risk of the diver suffering from a health hazard, for example diving sickness. A person would often have to make a lot of manipulations in order to achieve the required time course of the fluid pressure. There is a great danger that humans will make a mistake. The design rules out such an error.

In a further development of this embodiment, several pressure profiles are stored in the data memory of the controller. Each saved pressure curve specifies a required time curve of the increasing pressure. The two pressure profiles differ in at least one time interval with regard to the required speed and / or the acceleration with which the fluid pressure in the lock increases. For example, a first curve specifies a rapid and a second curve a slow pressure increase.

A stored pressure curve over time can be selected, for example manually by a crew member of the underwater vehicle or automatically by the controller. The controller is able to control the first flow rate setting unit with the control goal that the actual time course of the increasing fluid pressure is equal to the selected stored pressure course. The pressure curve can be selected depending on a given condition, e.g. depending on the requirement that the discharge should be carried out as quickly as possible or with as little noise as possible or with as little energy consumption as possible.

• ein unterer Bereich der Schleuse mit Wasser gefüllt ist und
• ein oberer Bereich der Schleuse mit Luft oder einem anderen Gas gefüllt ist.

In one configuration, a state can be established, preferably by means of the first fluid connection, in which

• a lower area of the lock is filled with water and
• an upper area of the lock is filled with air or another gas.

In this embodiment, the fluid pressure sensor is preferably designed as an air pressure sensor. The size measured by the air pressure sensor correlates with the pressure of the air or other gas in the upper area of the lock.

A gas as defined in the application can be a technical gas, e.g. Nitrogen, carbon dioxide or helium or a mixture of these technical gases, the or each technical gas being carried on board the underwater vehicle. The gas can also be a mixture of different gases, in particular artificially produced breathing gas mixtures such as, for example, Trimix or Nitrox.

According to the solution, a fluid can be conducted into the lock through the first fluid connection. In one embodiment, this fluid is water. The first flow rate setting unit can thus cause or enable water to flow through the first fluid connection into the lock. According to an embodiment with water as the inflowing fluid, the controller can control the first flow rate setting unit with the following control objective: the first fluid connection causes or enables the inflow of water into the lock until the water level in the lock increases leads to a measured air pressure in the upper range, which is equal to the target value for the air pressure.

This configuration saves the need to pass air or another gas into the lock and compress it there. It is possible to change the actual air pressure in the upper area only by leading water into the lock. This leads to a simple mechanical design of the lock system. It is also possible to lead both water and air into the lock. This often leads to faster discharge.

In one embodiment, the underwater vehicle comprises a reservoir for air or another gas. Air or this other gas is used as the fluid for the first fluid connection used. The first fluid connection can cause or enable the inflow of air from the air reservoir into the lock.

In a further development of this embodiment, the air in the lock is compressed by inflowing water. In another development, the air reservoir comprises a compressed air system. This compressed air system can provide compressed air. The first flow rate adjustment unit includes a compressed air valve that controls the flow of compressed air through the first fluid connection. The controller can control the compressed air valve to achieve the control goal, depending on signals from the fluid pressure sensor. This configuration often enables faster discharge. The actual course of the increasing air pressure over time is easier to adapt to a required course because the flow of compressed air is often easier to control than that of water.

In another development of this embodiment, a compressed air system is not necessarily required. A space inside the pressure vessel of the underwater vehicle can also be used as the air reservoir, for example a space in which crew members can stay. The first flow rate adjustment unit includes an air compressor. The air compressor can compress air from the air reservoir and generate an air pressure in the upper area of the lock that is greater than the air pressure in the air reservoir. The controller can control the air compressor to achieve the control goal, depending on signals from the fluid pressure sensor. This configuration saves a compressed air system.

In one embodiment, the lock system comprises, in addition to the first fluid connection, a second fluid connection and, in addition to the first flow rate setting unit, a second flow rate setting unit. Air or another gas can be introduced into the lock through the first fluid connection. Water can be led into the lock through the second fluid connection. The first flow rate setting unit is capable of the flow of air through the first fluid connection depending on a control by the controller set to a predetermined value. Depending on a control by the controller, the second flow rate setting unit can at least either prevent the flow of water through the second fluid connection or else enable and / or effect it. It is possible for the second flow rate setting unit to be able to set the flow of water through the second fluid connection to a predetermined value depending on the control, that is to say to be able to control the flow.

On the one hand, the controller can control the first flow rate setting unit in order to achieve the control goal, depending on signals from the fluid pressure sensor. On the other hand, the controller can control the second flow rate setting unit in such a way that the second flow rate setting unit causes or enables the inflow of water into the lock until the rising fill level of the water in the lock fulfills a predetermined property. This predefined property can be, for example, a predefined fill level of the water in the lock or the predefined target value for the air pressure in the upper region. It is therefore possible that the air pressure is regulated both by the supply of air and by the supply of water. This configuration often enables faster discharge and that the actual pressure curve is close to a required pressure curve.

In one embodiment, the lock system comprises a fill level sensor that can measure a size. This measured size correlates with the level of the water in the lower area. For example, the level sensor measures the pressure that the water exerts on the level sensor in the lower area. As is known, the higher the level, the higher this pressure. A fluid connection of the lock system is designed as a water-fluid connection. Water can be conducted into the lock through this water-fluid connection. A flow rate setting unit of the lock system is designed as a water flow rate setting unit. Depending on a control by the controller, this water flow rate setting unit is able to set the flow rate of water through the water-fluid connection to a predetermined value, that is to say the Control flow of water into the lock. In one embodiment, the controller controls the water flow rate setting unit as a function of signals from the level sensor.

According to this embodiment, the controller can determine the current level of the water in the lock, depending on signals from the level sensor. The controller can still control the water flow rate setting unit depending on the level determined. According to the solution, the controller is able to control the first flow rate setting unit in order to achieve the control goal, depending on signals from the fluid pressure sensor. According to the embodiment, the controller additionally uses the determined current fill level of the water in order to control the first flow rate setting unit. Thus, two setscrews are provided to regulate the air pressure: the first flow rate adjustment unit and the water flow rate adjustment unit.

In one embodiment, the controller determines the current fill level of the water in the lock by means of a calculation and uses signals from the fluid pressure sensor on the one hand and signals from the fill level sensor on the other hand for this calculation. This configuration often leads to lower measurement errors, especially if the level sensor can only measure the level approximately.

In an embodiment already described, the lock system comprises a water-fluid connection and a water flow rate setting unit, which can control the flow of water through the water-fluid connection. The controller can determine the actual level of water in the lock. In a further development of this configuration, a required functional dependency is specified. This dependency describes how a measure of the flow rate or flow rate of water through the water-fluid connection should depend on the level of water in the lock. The controller is capable of driving the water flow rate setting unit with the aim of knowing that the actual flow rate or flow rate through the water-fluid connection of the determined actual level in the lock depends on how it is required by the given functional dependency.

This configuration reduces the noise emissions when water flows into the lock and, in particular, prevents the incoming water from causing gurgling or bubbling at a low fill level. On the other hand, the inflow rate can be increased at a higher fill level, which saves time.

In one embodiment, the underwater vehicle comprises a water tank. A fluid connection of the lock system is designed as a water-fluid connection, which is connected to the water tank and to the lock. Through this water-fluid connection, water can be conducted from the water tank into the lock and preferably also vice versa from the lock into the water tank. A flow rate setting unit of the lock system is designed as a water flow rate setting unit. This water flow rate setting unit is capable of setting the flow rate of water through the water-fluid connection to a predetermined value. The controller can control the water flow rate adjustment unit, depending on signals from the fluid pressure sensor.

This configuration avoids the need for the underwater vehicle to take up surrounding water and guide it into the lock or, conversely, to drain water from the lock into the environment. This process can often lead to a water flow or other water movement that is undesirable, for example because the underwater vehicle can then be discovered. In addition, there may be particles or substances in the surrounding water that should not get into the underwater vehicle. In many configurations, such a separate water tank is already present, for example as a trim cell, which is able to influence the position of the underwater vehicle in the water. A controllable pump is often already installed.

In another embodiment, the water-fluid connection connects the lock to the surrounding water. This configuration avoids the need to provide your own water tank. The pressure of the surrounding water pushes water into the lock, so that no pump is required to discharge it.

In one embodiment, the lock system comprises a third fluid connection and a third flow rate setting unit. Fluid can be drained out of the lock through the third fluid connection. The third flow rate setting unit is capable of setting the flow rate of fluid through the third fluid connection to a predetermined value. According to the solution, the controller is able to control the first flow rate setting unit in order to achieve the control goal, depending on signals from the fluid pressure sensor. According to this embodiment, the controller is also able to control the third flow rate setting unit in order to achieve the control goal, preferably also depending on signals from the fluid pressure sensor.

This configuration further reduces the risk of excessive fluid pressure occurring in the lock. In particular, the risk is reduced that excessive air pressure is generated in an upper area of the lock. It is possible to quickly drain fluid from the lock if necessary.

In one embodiment, the lock system additionally comprises an entry opening and an exit opening for a diver. The controller is designed to control the first flow rate setting unit while both openings are closed.

In one embodiment of the method according to the invention for discharging a diver, the lock system comprises a first fluid connection for air and a second fluid connection for water. During the discharge, a state is established in which there is air in an upper region of the lock and water in a lower region. According to the embodiment, an air pressure increase process and a level increase process are carried out.

• Durch die erste Fluidverbindung hindurch wird Luft oder ein anderes Gas in die Schleuse hinein geleitet.
• Der Regler steuert zur Erreichung des Regelungs-Ziels die erste Fließraten-Einstellungs-Einheit abhängig von Signalen des als Luftdruck-Sensor ausgestalteten Fluiddruck-Sensors an.

The air pressure increase process includes the following steps:

• Air or another gas is conducted into the lock through the first fluid connection.
• To achieve the control target, the controller controls the first flow rate setting unit as a function of signals from the fluid pressure sensor configured as an air pressure sensor.

• Durch die zweite Fluidverbindung hindurch wird Wasser in die Schleuse hinein geleitet.
• Der Regler steuert die zweite Fließraten-Einstellungs-Einheit dergestalt an, dass die zweite Fließraten-Einstellungs-Einheit den Zufluss von Wasser in die Schleuse bewirkt oder ermöglicht, bis der steigende Füllstand des Wassers in der Schleuse eine vorgegebene Eigenschaft erfüllt.

The level increase process includes the following steps:

• Water is led into the lock through the second fluid connection.
• The controller controls the second flow rate setting unit in such a way that the second flow rate setting unit causes or enables the inflow of water into the lock until the rising fill level of the water in the lock fulfills a predetermined property.

In one embodiment, the level increase process is started before the air pressure increase process. The air pressure rise process begins before the level rise process ends. The two processes are thus carried out overlapping in time, which saves time.

• Das Unterwasserfahrzeug zum Aufnehmen besitzt notwendigerweise einen Druckkörper mit einem Innenbereich, der mit einem Fluid gefüllt ist und in dem sich ein Mensch aufhalten kann, insbesondere ein mit Luft gefüllter Innenbereich. Selbstverständlich kann auch das lösungsgemäße Unterwasserfahrzeug zum Ausschleusen eines Tauchers einen solchen Innenbereich umfassen.
• Durch die erste Fluidverbindung hindurch lässt sich ein Fluid aus der Schleuse herausleiten.
• Die erste Fließraten-Einstellungs-Einheit vermag die Fließrate von Fluid aus der Schleuse durch die erste Fluidverbindung hindurch auf einen vorgegebenen Wert einzustellen.
• Der Regler vermag die erste Fließraten-Einstellungs-Einheit mit dem Regelungs-Ziel anzusteuern, dass der gemessene Fluiddruck absinkt, bis er gleich dem Druck im Innenbereich des Druckkörpers ist. Diese Ansteuerung führt der Regler wiederum abhängig von Signalen des Fluiddruck-Sensors durch.

The solution-based underwater vehicle, which is designed to accommodate a diver underwater, has the same components as the solution-based underwater vehicle for releasing the diver, but with the following modifications:

• The underwater vehicle for recording necessarily has a pressure body with an inner area which is filled with a fluid and in which a person can stay, in particular an inner area filled with air. Of course, the underwater vehicle according to the solution can also include such an interior area for discharging a diver.
• A fluid can be led out of the lock through the first fluid connection.
• The first flow rate setting unit is able to set the flow rate of fluid from the lock through the first fluid connection to a predetermined value.
• The controller is able to control the first flow rate setting unit with the aim of regulating that the measured fluid pressure drops until it is equal to the pressure inside the pressure body. The controller in turn carries out this activation depending on signals from the fluid pressure sensor.

• Der oder jeder Taucher begibt sich aus dem umgebenden Wasser in die Schleuse.
• Ein Fluid wird aus der Schleuse heraus und durch die erste Fluidverbindung hindurch geleitet.
• Der Regler steuert abhängig von Signalen des Luftdruck-Sensors automatisch die erste Fließraten-Einstellungs-Einheit mit dem Regelungs-Ziel an, dass der Fluiddruck in der Schleuse absinkt, bis er gleich dem Druck im Innenbereich des Druckkörpers ist.
• Die erste Fließraten-Einstellungs-Einheit stellt die Fließrate von Fluid aus der Schleuse durch die erste Fluidverbindung hindurch gemäß der Ansteuerung auf einen vorgegebenen Wert ein.
• Der oder jeder aufzunehmende Taucher begibt sich aus der Schleuse in den Innenbereich.

The method according to the solution for receiving a diver under water is carried out using this solution-based underwater vehicle and comprises the following different steps:

• The or every diver goes out of the surrounding water into the lock.
• A fluid is passed out of the lock and through the first fluid connection.
• Depending on signals from the air pressure sensor, the controller automatically controls the first flow rate setting unit with the aim of regulating that the fluid pressure in the lock drops until it is equal to the pressure inside the pressure body.
• The first flow rate setting unit sets the flow rate of fluid from the lock through the first fluid connection according to the control to a predetermined value.
• The or every diver to be admitted goes out of the lock into the interior.

The invention and the advantageous embodiments for receiving a diver achieve the corresponding advantages as those for releasing a diver.

The solution-based underwater vehicle with the lock system can be a military or a civilian underwater vehicle. It can have its own drive and / or be configured to be moved through the water by another vehicle. The underwater vehicle can have a tower, and the lock is arranged in this tower. The lock can also be in one Pressure body must be arranged at a position outside the tower and still lead outside of the pressure body. It is also possible that a torpedo tube or another weapon barrel of a military underwater vehicle is used as the lock of the lock system according to the solution.

The underwater vehicle according to the solution can be used to discharge and / or pick up at least one diver. In one possible application, the lock system is used to discharge and / or pick up at least one object through the lock. For the discharge or pick-up of an object, a control target is preferably used in which the fluid pressure rises or falls more rapidly, because the requirement that a diver must not be endangered by a pressure change that is too rapid does not apply to an object.

• Fig. 1 schematisch eine erste Ausführungsform des lösungsgemäßen Schleusen-Systems mit einem Wasserdruck-Sensor, einem Luftdruck-Sensor, drei Fluidverbindungen und drei gesteuerten Ventilen in diesen Fluidverbindungen;
• Fig. 2 schematisch den Ablauf beim Ausschleusen eines Tauchers;
• Fig. 3 schematisch den Ablauf, um die Schleuse auf das Ausschleusen eines Tauchers vorzubereiten;
• Fig. 4 schematisch den Ablauf bei der Aufnahme eines Tauchers;
• Fig. 5 schematisch den Ablauf, um die Schleuse auf die Aufnahme eines Tauchers vorzubereiten;
• Fig. 6 schematisch den Regelkreis, um gemäß der ersten Ausführungsform den Luftdruck in der Schleuse zu regeln;
• Fig. 7 schematisch den Regelkreis, um den Wasserdruck in der Schleuse zu regeln;
• Fig. 8 eine zweite Ausführungsform des lösungsgemäßen Schleusen-Systems mit einem Kompressor und einer Pumpe;
• Fig. 9 eine dritte Ausführungsform des lösungsgemäßen Schleusen-Systems mit mehreren Füllstands-Schaltern;
• Fig. 10 eine vierte Ausführungsform des lösungsgemäßen Schleusen-Systems, wobei die Schleuse in Fluidverbindung mit dem umgebenden Wasser steht;
• Fig. 11 eine fünfte Ausführungsform des lösungsgemäßen Schleusen-Systems, wobei die Schleuse ebenfalls in Fluidverbindung mit dem umgebenden Wasser steht.

The lock system according to the invention is explained in more detail below on the basis of an exemplary embodiment shown in the drawings. Here show:

• Fig. 1 schematically a first embodiment of the lock system according to the invention with a water pressure sensor, an air pressure sensor, three fluid connections and three controlled valves in these fluid connections;
• Fig. 2 schematically the process when discharging a diver;
• Fig. 3 schematically the procedure to prepare the lock for the discharge of a diver;
• Fig. 4 schematically the process of receiving a diver;
• Fig. 5 schematically the procedure to prepare the lock for the reception of a diver;
• Fig. 6 schematically the control circuit to regulate the air pressure in the lock according to the first embodiment;
• Fig. 7 schematically the control loop to regulate the water pressure in the lock;
• Fig. 8 a second embodiment of the lock system according to the invention with a compressor and a pump;
• Fig. 9 a third embodiment of the lock system according to the solution with several level switches;
• Fig. 10 a fourth embodiment of the lock system according to the solution, the lock being in fluid communication with the surrounding water;
• Fig. 11 a fifth embodiment of the lock system according to the solution, the lock also being in fluid communication with the surrounding water.

In the exemplary embodiment, the invention is used on board a manned submarine (submarine), the submarine accommodating at least one diver on board, transporting the or each diver on board to a place of use and discharging them under water there. The diver leaves the submerged submarine using a lock system. It is possible to discharge several divers in succession or simultaneously using the same lock system or to overlap several divers with the help of at least two lock systems of the submarine overlapping in time. The or each diver carries out a mission and can be picked up again on board the same or another submersible submersible using the lock system.

The diver must not be endangered either when discharging or picking up. In particular, he must not suffer from diving sickness or a baro-trauma or any other health impairment that is caused by a too rapid change in the pressure acting on the diver. Therefore, the surrounding pressure, which acts on the diver from outside, must not rise and fall faster than a predetermined rate of change. On the other hand, removal and pick-up should often be carried out as quickly as possible. Other requirements are often that no air bubbles should rise and that as little noise as possible should be caused. The acoustic signature of the submarine should also remain low when the diver or diver is released and picked up. Undesired noises can be generated, for example, by a pump of the lock system or by a control cell system or a compressed air system or by gurgling or bubbling water on board the submarine.

• der Druckkörper 5 des U-Boots, zu welchem das Schleusen-System gehört, wobei sich Besatzungsmitglieder des U-Boots in einem Innenraum I im Druckbehälter 5 aufhalten können,
• eine Schleuse 1 in Form einer Schleusenkammer, welche mindestens einen Taucher aufzunehmen vermag,
• ein Gitter 2, welches im Inneren der Schleuse 1 in der unteren Hälfte der Schleuse 1 angeordnet ist und auf welchem ein Taucher stehen kann,
• ein unteres Luk L1, ein oberes Luk L2 und ein seitliches Luk L3, welche sich unabhängig voneinander öffnen und schließen lassen und durch welche ein Mensch hindurchschlüpfen kann, und
• drei Fluidverbindungen 10, 11, 12, welche die sich durch jeweils ein Ventil V1, V2, V3 vollständig oder teilweise schließen lassen.

In the exemplary embodiment, the lock system described below is arranged in the tower of the submarine. It is also possible that the lock system is arranged at a different position in the submarine. Fig. 1 shows schematically the lock system of the embodiment. The following components are shown:

• the pressure body 5 of the submarine, to which the lock system belongs, crew members of the submarine being able to stay in an interior space I in the pressure vessel 5,
• a lock 1 in the form of a lock chamber which can accommodate at least one diver,
• a grid 2, which is arranged inside the lock 1 in the lower half of the lock 1 and on which a diver can stand,
• a lower hatch L1, an upper hatch L2 and a lateral hatch L3, which can be opened and closed independently of one another and through which a person can slip, and
• three fluid connections 10, 11, 12, which can be completely or partially closed by a valve V1, V2, V3.

The grid 2 is arranged between the lower hatch L1 and the lateral hatch L3 and enables a diver to stand inside the lock 1. In the situation that in Fig. 1 is shown, a lower region W of the lock 1 is filled with water. The water surface in the lock 1 is designated WO. Above the water surface WO is an upper area that is filled with air and is designated by L. The grid 2 is not required for the actual function of the lock 1. In the exemplary embodiment, however, the lock 1 is so large that the grating 2 is required so that a diver can enter through the lower hatch L1 and exit through the lateral hatch L3.

The upper hatch L2 is also not required for the actual function of lock 1, but is closed when a diver is regularly released and picked up and is then only opened in an emergency. If the lock 1 in the tower position of the submarine, the upper hatch L2 can also be opened for the purpose that a crew member gets out of the exposed submarine or climbs into the exposed submarine.

The fluid connection 11 connects the lock 1 to a compressed air system 6 and is able to guide compressed air from the compressed air system 6 into the lock 1. The fluid connection 11 opens into the lock 1 above the water surface WO. The water surface WO remains below the opening of the fluid connection 11 into the lock 1.

Thanks to the compressed air system 6, the air pressure in the lock 1 in the area L above the water surface WO can be metered more precisely than if this pressure were only changed by supplying water. An optional silencer 16 at the confluence of the fluid connection 11 in the lock 1 dampens noises that can occur when compressed air enters the lock 1. The fluid connection 11 opens into the lock 1 between the side hatch L3 and the upper hatch L2. A valve V2 can either close or open the fluid connection 11.

The fluid connection 10 makes it possible to let air out of the lock 1. The fluid connection 10 also begins above the water surface WO and opens into the interior I of the pressure body 5, in which the crew members of the submarine are located. A valve V1 can either close or open the fluid connection 10.

All three fluid connections 10, 11, 12 have a sufficiently large cross-section so that a large amount of fluid per unit time can flow through the fluid connection and so that the discharge and take-up can be carried out quickly even when the flow rate is low. With the same volume flow, a lower flow rate with a larger pipe cross section causes less noise than a higher flow rate with a smaller pipe cross section.

The fluid connection 12 connects the lock 1 to a control cell system 7. This control cell system 7 has several control cells connected to one another in the form of water tanks, which can be filled and emptied with water. The control cell system 7 is used to determine the trim position of the submarine in the water and to change it if necessary, and is also used to provide water for the lock 1 or to take water from the lock 1. In the exemplary embodiment, the control cell system 7 is located vertically or obliquely below the lock system. The fluid connection 12 opens from below next to the hatch L1 into the lower region W of the lock 1. A valve V3 can either close or open the fluid connection 12.

Thanks to the fluid connection 12, it is not necessary to use water from the surroundings of the submarine to take up the lock system and to take up ambient water or to release water from the lock 1 into the surroundings. This uptake or release of water can lead to water movement that can be located. Another advantage of using the control cell system 7 is that the control cell system 7 is usually already present and the specific weight and other properties of the water in the control cell system 7 are generally known while the Properties of the surrounding water are often not exactly known.

In a modification that is conceivable in principle, the fluid connection 12 connects the lock 1 to a tank for water of reaction. In this tank, not shown, water of reaction flows, which is formed in a fuel cell system of the submarine when hydrogen and oxygen react chemically with one another and thereby generate electrical current. If necessary, this water of reaction is passed into lock 1 and drained again from lock 1 into the reaction water tank. This configuration also avoids the need to use outside water.

The valves V1, V2, V3 can be controlled electronically. In a preferred embodiment, the valves V1, V2, V3 are controllable proportional valves, so that each valve V1, V2, V3 can assume one of several possible intermediate positions in addition to a fully open position and a completely closed position. In one embodiment, a controller 3 described further below can set a desired position of the valve body via a control logic 4 for each valve V1, V2, V3. Valve V1, V2, V3 reports the actual position of the valve body.

The valves V1, V2 and V3 are arranged in the interior of the pressure body 5. In one embodiment, these valves can also be adjusted manually so that the lock system can also be operated manually in the event of a fault. In one embodiment, the fluid connection 10 can be closed manually using a ball valve K1. By manually closing the ball valve K1, it can be prevented that unregulated compressed air flows from the lock 1 into the interior of the pressure body 5 when the valve V1 is blocked in the or an open position.

In order to discharge a diver, the steps described below are carried out while the submarine is submerged. The hatch L1 is open, the hatches L2 and L3 as well as the valves V1, V2 and V3 are closed, and there is no water in the lock 1. A diver to be removed climbs from below through the opened lower hatch L1 into the lock 1 and is then on grid 2. The hatch L1 is closed. The valve V3 is opened and water is conveyed through the fluid connection 12 into the lock 1. In one embodiment, the control cells of the control cell system 7 are already under increased pressure. If the valve V3 is open, water therefore rises from the control cell system 7 into the lock 1 without the need for a pump which conveys the water. In another embodiment, a pump can deliver water from the control cell system 7 or from the reaction water tank described above into the lock 1.

The valve V1 remains open at least as long as to prevent excessive pressure in the lock 1 in the area L above the water surface WO. Air escapes through the fluid connection 10 from the lock 1 in the interior I until the diver is up to his neck in the water but still receives air and communicate verbally can. In Fig. 1 the water surface WO of the water in the lock 1 is shown. This water surface WO divides the interior of the lock 1 into a lower area W, which is filled with water, and an upper area L, which is still filled with air. Now valve V3 is closed.

To gradually get the diver used to the pressure of the surrounding water, valve V1 is closed and valve V2 is opened. The fluid connection 11 leads compressed air from the compressed air system 6 into the lock 1. The pressure increase in the area L of the lock 1, which is located above the water surface WO, remains below the predetermined pressure increase rate. It is also possible to open the valve V2 for the fluid connection 11 while water is still flowing through the fluid connection 12. As soon as the diver in the lock 1 is exposed to a pressure which is approximately equal to the pressure of the surrounding water, the side hatch L3 located below the water surface WO is opened and the diver leaves the lock 1. In one embodiment, the diver opens the side Luk L3. In another embodiment, the side hatch L3 is opened by a hydraulic actuator, which e.g. activated by a crew member of the submarine. The upper hatch L2 remains closed during normal operation. It can be opened so that in an emergency the divers and crew members of the submarine can leave the submarine through lock 1 in the tower.

In a preferred embodiment, two electronic pressure sensors S1 and S2 are embedded in the wall of the lock 1. In each case one measuring surface of the pressure sensor S1, S2 preferably points to the interior of the lock 1. The water pressure sensor S1 measures the current pressure that the water exerts in the area W in the lock 1 on the measuring surface of the water pressure sensor S1. This water comes, for example, from the control cell system 7 or the reaction water tank. The air pressure sensor S2 measures the current pressure that the air exerts in the area L above the water surface WO on the measuring surface of the air pressure sensor S2. From the pressure that the water pressure sensor S1 measures and, in one embodiment, additionally from the pressure that the air pressure sensor S2 measures, the current fill level of the Water derived in the lock 1, that is, the distance between the lower hatch L1 and the water surface WO, and if necessary, the temporal change in the level. A water pressure sensor redundant to the water pressure sensor S1 is designed as an analog pressure gauge M1 and measures the pressure in the fluid connection 12.

An external pressure sensor S3 is also shown, which measures the pressure of the surrounding water. As is well known, this pressure depends on the depth of the submarine and the temperature of the surrounding water. An optional acoustic sensor S4 is arranged at the inlet of the fluid connection 12 into the lock 1 and measures the noise development at this inlet. An internal pressure sensor S5 measures the pressure prevailing inside I of the pressure body 5.

A data processing controller 3 receives signals from the two pressure sensors S1 and S2 and generates control signals for a control logic 4. Signals from sensors S3, S4 and S5 are preferably also transmitted to controller 3 and controller 3 is used also these signals for driving the control logic 4. The control logic 4 receives control signals from the controller 3. The control logic 4 generates individual control commands for the valves V1, V2 and V3 and thereby brings a controlled valve V1, V2, V3 into the closed position, the open position or a predetermined intermediate position .

• Stationärer Zustand SZ1 (Schleuse ist leer): In der Schleuse 1 befindet sich kein Wasser. Ein Taucher kann über das untere Luk L1 in die Schleuse 1 einsteigen oder aus ihr aussteigen. Das Ventil V1 ist geöffnet, so dass die Schleuse 1 über die Fluidverbindung 10 mit dem Inneren des Druckkörpers 5 verbunden ist und in der Schleuse 1 der gleiche Druck wie im Inneren des Druckkörpers 5 herrscht. Die beiden Ventile V2 und V3 sind geschlossen. Die Druck-Sensoren S1 und S2 messen beide den gleichen Wert, nämlich den Druck im Inneren des Druckkörpers 5.
• Stationärer Zustand SZ2 (Schleuse ist ausreichend mit Wasser gefüllt, Innendruck herrscht): Das Wasser im Bereich W der Schleuse 1 hat die gewünschte Füllhöhe erreicht, und kein weiteres Wasser wird in die Schleuse 1 geleitet. Das seitliche Luk L3 befindet sich unterhalb der Wasseroberfläche WO, so dass beim Öffnen des Luk L3 keine Luft aus der Schleuse 1 austritt. Das Ventil V1 ist weiterhin geöffnet, so dass im Bereich L der Schleuse 1 der gleiche Druck wie im Inneren des Druckkörpers 5 herrscht. Die Ventile V2 und V3 sind geschlossen. Der Luftdruck-Sensor S2 misst weiterhin einen Wert, der gleich dem Druck im Inneren des Druckkörpers 5 ist. Der Wasserdruck-Sensor S1 misst bevorzugt einen Wert, der um einen vorgegebenen Betrag über dem Druck im Bereich L und damit dem Druck im Inneren des Druckkörpers 5 liegt. Dieser vorgegebene Betrag korreliert mit der gewünschten Füllhöhe des Wassers im Bereich W.
• Stationärer Zustand SZ3 (Schleuse ist ausreichend mit Wasser gefüllt, Außendruck herrscht): Im Bereich L oberhalb der Wasseroberfläche WO herrscht der gleiche Druck wie im umgebenden Wasser und wie im Bereich W unterhalb der Wasseroberfläche WO. Der Luftdruck-Sensor S2 misst diesen Druck. Das Ventil V3 ist geschlossen, und der Wasserdruck-Sensor S1 misst den gleichen Druck wie im Zustand SZ2. Dieser gemessene Druck ist im Zustand SZ3 höher als der Druck im Inneren des Druckkörpers 5. Die beiden Ventile V1 und V2 befinden sich jeweils in einem Zustand, der vom Regler 3 vorgegeben und von der Stell-Logik 4 eingestellt ist.
• Dynamischer Zustand DZ1 (Schleuse wird geflutet): Wasser wird in die Schleuse 1 geleitet. Das Ventil V1 ist geöffnet, so dass im Bereich L der Schleuse 1 der gleiche Druck wie im Inneren des Druckkörpers 5 herrscht. Das Ventil V2 ist geschlossen. Der Luftdruck-Sensor S2 misst weiterhin einen Wert, der gleich dem Druck im Inneren des Druckkörpers 5 ist. Das Ventil V3 befindet sich in einem Zustand (Position des Ventilkörpers), der vom Regler 3 vorgegeben und von der Stell-Logik 4 eingestellt worden ist. Der Regler 3 regelt den Zufluss von Wasser in die Schleuse 1. Weil der Wasserstand in der Schleuse 1 steigt, misst der Wasserdruck-Sensor S1 einen steigenden Wert.
• Dynamischer Zustand DZ2 (Schleuse wird gelenzt): Wasser wird aus der Schleuse 1 abgelassen. Das Ventil V1 ist geöffnet, das Ventil V2 geschlossen, und das Ventil V3 befindet sich in einem vom Regler 3 vorgegebenen Zustand. Der Regler 3 regelt den Abfluss von Wasser aus der Schleuse 1. Weil der Füllstand des Wassers in der Schleuse 1 fällt, misst der Wasserdruck-Sensor S1 einen sinkenden Wert.
• Dynamischer Zustand DZ3 (Luft in der Schleuse wird gesichert komprimiert): Der Füllstand des Wassers in der Schleuse 1 bleibt konstant, und das Ventil V3 ist geschlossen. Der Wasserdruck-Sensor S1 misst einen konstanten Wert. Die Ventile V2 und V3 befinden sich in jeweils einem vom Regler 3 vorgegebenen Zustand. Der Regler 3 regelt über die Stell-Logik 4 den Zufluss von Luft aus der Regelzellen-Anlage 7 in die Schleuse 1, und zwar so, dass der tatsächliche zeitliche Verlauf des Druckanstiegs gleich einem geforderten zeitlichen Verlauf ist und ein Taucher in der Schleuse 1 nicht gefährdet wird. Der Luftdruck-Sensor S2 und der Wasserdruck-Sensor S1 messen jeweils einen steigenden Wert.
• Dynamischer Zustand DZ4 (Luft in der Schleuse wird gesichert dekomprimiert): Der Füllstand des Wassers in der Schleuse 1 bleibt ebenfalls konstant, das Ventil V3 ist geschlossen, und der Wasserdruck-Sensor S1 misst einen fallenden Wert. Die Differenz zwischen den beiden Drücken, welche die Sensoren S1 und S2 messen, bleibt konstant. Die Ventile V1 und V2 befinden sich in jeweils einem vom Regler 3 vorgegebenen Zustand. Der Regler 3 regelt über die Stell-Logik 4 den Abfluss von Luft aus der Schleuse 1 in das Innere des Druckkörpers 5, und zwar so, dass ein Taucher in der Schleuse 1 nicht gefährdet wird. Das Regelungs-Ziel in dynamischen Zustand DZ4 ist, dass der tatsächliche zeitliche Verlauf des Druckabfalls gleich einem geforderten zeitlichen Verlauf ist. Der Luftdruck-Sensor S2 misst einen fallenden Wert.
• Dynamischer Zustand DZ5 (Luft in der Schleuse wird rasch komprimiert): Dieser Zustand wird insbesondere dafür hergestellt, um die Schleuse 1 auf das Aufnehmen eines Tauchers vorzubereiten oder um in einem Notfall rasch ein Besatzungsmitglied auszuschleusen oder um einen Gegenstand auszuschleusen. Der Zustand unterscheidet sich vom dynamischen Zustand DZ3 (Luft in der Schleuse wird gesichert komprimiert) wie folgt: Der Regler 3 steuert die Ventile V2 und V3 so an, dass der Luftdruck rasch ansteigt. Auch bei diesem raschen Anstieg sollen nur wenige Geräusche und keine Luftblasen entstehen.
• Dynamischer Zustand DZ6 (Luft in der Schleuse wird rasch dekomprimiert): Dieser Zustand wird ebenfalls nur dann erreicht, wenn sich kein Taucher in der Schleuse 1 befindet oder ein Besatzungsmitglied rasch oder ein Gegenstand ausgeschleust oder aufgenommen werden soll, und unterscheidet sich vom dynamischen Zustand DZ4 dadurch, dass die Luft rascher dekomprimiert wird. In einer Ausgestaltung wird zusätzlich das Ventil V2 geöffnet, um Druckluft in die Schleuse 1 zu leiten und dadurch den Abfluss von Wasser aus der Schleuse 1 zu beschleunigen.

In the exemplary embodiment, the lock system can be operated in the following stationary and dynamic states:

• Stationary status SZ1 (lock is empty): There is no water in lock 1. A diver can enter or exit lock 1 via the lower hatch L1. The valve V1 is opened, so that the lock 1 is connected to the interior of the pressure body 5 via the fluid connection 10 and the same pressure prevails in the lock 1 as in the interior of the pressure body 5. The two valves V2 and V3 are closed. The pressure sensors S1 and S2 both measure the same value, namely the pressure inside the pressure body 5.
• Stationary state SZ2 (lock is sufficiently filled with water, internal pressure prevails): The water in area W of lock 1 has reached the desired fill level, and no further water is fed into lock 1. The side hatch L3 is located below the water surface WO, so that no air escapes from the lock 1 when the hatch L3 is opened. The valve V1 is still open, so that the same pressure as in the interior of the pressure body 5 prevails in the area L of the lock 1. Valves V2 and V3 are closed. The air pressure sensor S2 also measures a value that is equal to the pressure inside the pressure element 5. The water pressure sensor S1 preferably measures a value that is a predetermined amount above the pressure in the area L and thus the pressure inside the pressure element 5. This predetermined amount correlates with the desired fill level of the water in the area W.
• Stationary state SZ3 (sluice is sufficiently filled with water, external pressure prevails): In area L above the water surface WO there is the same pressure as in the surrounding water and as in area W below the water surface WO. The air pressure sensor S2 measures this pressure. The valve V3 is closed and the water pressure sensor S1 measures the same pressure as in state SZ2. This measured pressure is higher in state SZ3 than the pressure inside the pressure body 5. The two valves V1 and V2 are each in a state which is predetermined by the controller 3 and is set by the control logic 4.
• Dynamic state DZ1 (lock is flooded): water is fed into lock 1. The valve V1 is opened so that the same pressure as in the interior of the pressure element 5 prevails in the area L of the lock 1. The valve V2 is closed. The air pressure sensor S2 also measures a value that is equal to the pressure inside the pressure element 5. The valve V3 is in a state (position of the valve body) which has been specified by the controller 3 and has been set by the control logic 4. The controller 3 regulates the inflow of water into the lock 1. Because the water level in the lock 1 rises, the water pressure sensor S1 measures an increasing value.
• Dynamic status DZ2 (lock is being drained): Water is drained from lock 1. Valve V1 is open, valve V2 is closed, and the valve V3 is in a state specified by controller 3. The controller 3 regulates the outflow of water from the lock 1. Because the fill level of the water in the lock 1 drops, the water pressure sensor S1 measures a falling value.
• Dynamic state DZ3 (air in the lock is compressed securely): the fill level of the water in lock 1 remains constant and the valve V3 is closed. The water pressure sensor S1 measures a constant value. Valves V2 and V3 are each in a state specified by controller 3. The controller 3 regulates the inflow of air from the control cell system 7 into the lock 1 via the control logic 4, in such a way that the actual time course of the pressure rise is equal to a required time course and a diver in the lock 1 is not is endangered. The air pressure sensor S2 and the water pressure sensor S1 each measure an increasing value.
• Dynamic state DZ4 (air in the lock is safely decompressed): The fill level of the water in lock 1 also remains constant, the valve V3 is closed and the water pressure sensor S1 measures a falling value. The difference between the two pressures measured by sensors S1 and S2 remains constant. Valves V1 and V2 are each in a state specified by controller 3. The controller 3 regulates the outflow of air from the lock 1 into the interior of the pressure body 5 via the control logic 4, in such a way that a diver in the lock 1 is not endangered. The control goal in dynamic state DZ4 is that the actual time course of the pressure drop is equal to a required time course. The air pressure sensor S2 measures a falling value.
• Dynamic state DZ5 (air in the lock is compressed quickly): This state is especially designed to prepare lock 1 for taking in a diver or to quickly remove a crew member in an emergency or to discharge an object. The state differs from the dynamic state DZ3 (air in the airlock is compressed securely) as follows: The controller 3 controls the valves V2 and V3 so that the air pressure rises quickly. Even with this rapid increase, there should be little noise and no air bubbles.
• Dynamic state DZ6 (air in the lock is quickly decompressed): This state is also only achieved if there is no diver in lock 1 or if a crew member is to be quickly removed or an object is to be removed or picked up, and differs from the dynamic state DZ4 by decompressing the air more quickly. In one embodiment, valve V2 is additionally opened in order to guide compressed air into lock 1 and thereby accelerate the outflow of water from lock 1.

• Anfänglich ist das Schleusen-System im stationären Zustand SZ1 (Schleuse ist leer).
• Der oder jeder auszuschleusende Taucher steigt über das untere Luk L1 in die Schleuse 1 und steht auf dem Gitter 2. Ein Taucher gibt ein Signal, dass nunmehr das Ausschleusen begonnen werden soll (Ereignis E1). Nunmehr regelt der Regler 3 automatisch die Zufuhr von Wasser und Druckluft in die Schleuse 1.
• Der Regler 3 überführt das Schleusen-System in den dynamischen Zustand DZ1 (Schleuse wird geflutet). Das Schleusen-System verbleibt in diesem dynamischen Zustand DZ1, bis ein gewünschtes Ereignis E2 eingetreten ist, welches die Zufuhr von Wasser in die Schleuse 1 beendet. Beispielsweise liegt der Druck, den der Wasserdruck-Sensor S1 misst, um einen vorgegebenen Betrag über dem Druck, den der Luftdruck-Sensor S2 misst und der gleich dem Druck im Inneren des Druckkörpers 5 ist.
• Sobald das Ereignis E2 entdeckt ist, überführt der Regler 3 das Schleusen-System in den stationären Zustand SZ2 (Schleuse ist mit Wasser gefüllt, Innendruck herrscht).
• Das Ereignis E3 tritt automatisch ein, nachdem das Schleusen-System sich für eine vorgegebene Zeitspanne im stationären Zustand SZ2 befunden hat. Es tritt bevorzugt auch dann ein, wenn der Taucher in der Schleuse 1 ein weiteres Signal gibt. Der Regler 3 überführt das Schleusen-System nunmehr in den dynamischen Zustand DZ3 (Luft in der Schleuse wird gesichert komprimiert).
• Das Ereignis E4 ist eingetreten, wenn der Luftdruck-Sensor S2 den gleichen Druck misst, den das umgebende Wasser hat. Der Regler 3 überführt das Schleusen-System daraufhin in den statischen Zustand SZ3 (Schleuse ist mit Wasser gefüllt, Außendruck herrscht).
• Der oder jeder Taucher steigt durch das geöffnete seitliche Luk L3 aus der Schleuse 1 aus.
• Später wird das seitliche Luk L3 wieder geschlossen.

Fig. 2 shows the process of removing a diver from the lock system of Fig. 1 . The following conditions are reached and the following events are measured:

• Initially, the lock system is in the steady state SZ1 (lock is empty).
• The or each diver to be removed climbs over the lower hatch L1 into lock 1 and stands on the grating 2. A diver gives a signal that the discharge should now be started (event E1). The controller 3 now automatically regulates the supply of water and compressed air into the lock 1.
• The controller 3 transfers the lock system to the dynamic state DZ1 (lock is flooded). The lock system remains in this dynamic state DZ1 until a desired event E2 has occurred, which ends the supply of water to the lock 1. For example, the pressure which the water pressure sensor S1 measures is above the pressure which the air pressure sensor S2 measures and which is equal to the pressure inside the pressure body 5 by a predetermined amount.
• As soon as event E2 is discovered, controller 3 transfers the lock system to the steady state SZ2 (lock is filled with water, internal pressure prevails).
• Event E3 occurs automatically after the lock system has been in the stationary state SZ2 for a predetermined period of time. It also preferably occurs when the diver gives another signal in the lock 1. The controller 3 now converts the lock system into the dynamic state DZ3 (air in the lock is securely compressed).
• Event E4 has occurred when the air pressure sensor S2 measures the same pressure as the surrounding water. The controller 3 then transfers the lock system to the static state SZ3 (lock is filled with water, external pressure prevails).
• The or each diver gets out of the lock 1 through the open side hatch L3.
• Later the side hatch L3 is closed again.

• Anfänglich befindet sich die Schleuse 1 im statischen Zustand SZ3 (Schleuse ist mit Wasser gefüllt, Außendruck herrscht), und kein Taucher befindet sich in der Schleuse 1. Die Vorgabe E6 löst den Schritt aus, das Schleusen-System rasch für das Ausschleusen eines weiteren Tauchers vorzubereiten. Der Regler 3 überführt das Schleusen-System in den dynamischen Zustand DZ6 (Luft in der Schleuse wird rasch dekomprimiert).
• Dieser Zustand DZ6 wird beibehalten, bis das Ereignis E7 eingetreten ist, nämlich dass der Luftdruck-Sensor S2 den Druck misst, der auch im Inneren des Druckkörpers 5 herrscht.
• Das Ereignis E7 bewirkt, dass der Regler 3 das Schleusen-System in den statischen Zustand SZ2 (Schleuse ist mit Wasser gefüllt, Innendruck herrscht) überführt.
• Nunmehr öffnet der Regler 3 das Ventil V1 vollständig und in einer Ausgestaltung das Ventil V3 teilweise (Ereignis E8). Dadurch wird das Schleusen-System in den dynamischen Zustand DZ2 (Schleuse wird gelenzt) überführt.
• Das Schleusen-System bleibt in diesem Zustand, bis die Schleuse 1 vollständig von Wasser geleert ist (Ereignis E9). Beispielsweise stellt der Regler 3 fest, dass die beiden Druck-Sensoren S1 und S2 den gleichen Druck messen. Das Schleusen-System befindet sich nunmehr im statischen Zustand SZ1 (Schleuse ist leer).

In Fig. 3 the procedure is shown schematically to prepare the lock system for the discharge of another diver.

• Initially, lock 1 is in the static state SZ3 (lock is filled with water, there is external pressure) and there is no diver in lock 1. The specification E6 triggers the step, the lock system quickly for the discharge of another diver prepare. The controller 3 converts the lock system into the dynamic state DZ6 (air in the lock is quickly decompressed).
• This state DZ6 is maintained until event E7 has occurred, namely that the air pressure sensor S2 measures the pressure that also prevails inside the pressure element 5.
• Event E7 causes controller 3 to switch the lock system to the static state SZ2 (lock is filled with water, internal pressure prevails).
• The controller 3 now opens the valve V1 completely and, in one embodiment, the valve V3 partially (event E8). As a result, the lock system is switched to the dynamic state DZ2 (lock is being drained).
• The lock system remains in this state until lock 1 is completely emptied of water (event E9). For example, the controller 3 determines that the two pressure sensors S1 and S2 measure the same pressure. The lock system is now in the static state SZ1 (lock is empty).

• Anfänglich ist das Schleusen-System im stationären Zustand SZ3 (Schleuse ist mit Wasser gefüllt, Außendruck herrscht), und die Schleuse 1 ist leer.
• Der oder jeder aufzunehmende Taucher steigt durch das geöffnete seitliche Luk L3 in die Schleuse 1 ein und steht auf dem Gitter 2. Ein Taucher gibt ein Signal, dass nunmehr die Aufnahme begonnen werden sollen (Ereignis E10). Nunmehr regelt der Regler 3 den Abfluss von Wasser und Druckluft aus der Schleuse 1.
• Der Regler 3 überführt das Schleusen-System in den dynamischen Zustand DZ4 (Luft in der Schleuse wird gesichert dekomprimiert). Das Schleusen-System verbleibt in diesem dynamischen Zustand DZ4, bis ein gewünschtes Ereignis E11 eingetreten ist, welches den Abfluss von Luft aus dem Bereich L und somit das Dekomprimieren beendet. Dieses Ereignis E11 ist beispielsweise dann eingetreten, wenn der Luftdruck-Sensor S2 den Druck misst, der im Inneren des Druckkörpers 5 vorliegt.
• Sobald das Ereignis E11 entdeckt ist, überführt der Regler 3 das Schleusen-System in den stationären Zustand SZ2 (Schleuse ist mit Wasser gefüllt, Innendruck herrscht).
• Der Regler 3 bewirkt das Ereignis E12, welches den Schritt umfasst, das Ventil V3 vollständig oder wenigstens zu öffnen und damit den Abfluss von Wasser aus der Schleuse 1 durch die Fluidverbindung 12 in die Regelzellen-Anlage 7 oder in den Reaktionswasser-Tank zu ermöglichen. In einer Ausgestaltung öffnet der Regler 3 zusätzlich das Ventil V2, um Druckluft in die Schleuse 1 einfließen zu lassen und dadurch den Abfluss von Wasser zu beschleunigen. Das Schleusen-System befindet sich nunmehr im dynamischen Zustand DZ2 (Schleuse wird gelenzt).
• Das Schleusen-System verbleibt im dynamischen Zustand DZ2, bis das Ereignis E9 entdeckt ist, welches auch in Fig. 3 gezeigt wird. Das Ereignis E9 ist eingetreten, wenn die Schleuse 1 vollständig von Wasser geleert ist.
• Nunmehr überführt der Regler das Schleusen-System in den stationären Zustand SZ1 (Schleuse ist leer).
• Der oder jeder Taucher auf dem Gitter 2 kann durch das geöffnete untere Luk L1 aus der Schleuse 1 aussteigen (Ereignis E13).
• Später wird das untere Luk L1 wieder geschlossen.

Fig. 4 shows schematically the steps that are carried out when recording at least one diver.

• Initially, the lock system is in the steady state SZ3 (lock is filled with water, external pressure prevails), and lock 1 is empty.
• The diver to be picked up enters the lock 1 through the open side hatch L3 and stands on the grating 2. A diver gives a signal that the recording should now be started (event E10). The controller 3 now regulates the outflow of water and compressed air from the lock 1.
• The controller 3 converts the lock system into the dynamic state DZ4 (air in the lock is safely decompressed). The lock system remains in this dynamic state DZ4 until a desired event E11 has occurred, which ends the outflow of air from the area L and thus the decompression. This event E11 occurred, for example, when the air pressure sensor S2 measures the pressure that is present inside the pressure element 5.
• As soon as event E11 is detected, controller 3 transfers the lock system to the steady state SZ2 (lock is filled with water, internal pressure prevails).
• The controller 3 causes the event E12, which includes the step of opening the valve V3 completely or at least to enable water to flow out of the lock 1 through the fluid connection 12 into the control cell system 7 or into the reaction water tank. In one embodiment, the controller 3 additionally opens the valve V2 in order to allow compressed air to flow into the lock 1 and thereby accelerate the outflow of water. The lock system is now in the dynamic state DZ2 (lock is being drained).
• The lock system remains in the dynamic state DZ2 until event E9 is discovered, which also in Fig. 3 will be shown. Event E9 has occurred when lock 1 is completely empty of water.
• The controller now transfers the lock system to the steady state SZ1 (lock is empty).
• The or every diver on the grid 2 can get out of the lock 1 through the opened lower hatch L1 (event E13).
• The lower hatch L1 is closed again later.

• Anfänglich befindet sich die Schleuse 1 im statischen Zustand SZ1 (Schleuse ist leer).
• Die Vorgabe E14 löst den Schritt aus, das Schleusen-System rasch für die

Fig. 5 shows schematically the procedure to prepare the lock for the reception of a diver who is in the water and is to be spent on board the submarine.

• Initially, lock 1 is in the static state SZ1 (lock is empty).
• The specification E14 triggers the step, the lock system quickly for

• Der Regler 3 überführt das Schleusen-System in den dynamischen Zustand DZ1 (Schleuse wird geflutet).
• Das Schleusen-System verbleibt im dynamischen Zustand DZ1, bis das Ereignis E2 eingetreten ist, welches auch in Fig. 2 gezeigt wird und welches die Zufuhr von Wasser in die Schleuse 1 beendet.
• Danach überführt der Regler 3 das Schleusen-System in den stationären Zustand SZ2 (Schleuse ist mit Wasser gefüllt, Innendruck herrscht).
• Anschließend löst der Regler 3 den Schritt aus, dass die Luft in dem oberen Bereich L rasch komprimiert wird (Ereignis E15). Das Schleusen-System befindet sich hierbei im dynamischen Zustand DZ5 (Luft in der Schleuse wird rasch komprimiert).
• Das Schleusen-System verbleibt im dynamischen Zustand DZ5, bis das Ereignis E4 entdeckt wird, welches auch in Fig. 2 gezeigt wird und bedeutet, dass der Luftdruck-Sensor S2 den Druck misst, den das umgebende Wasser hat.
• Nunmehr ist das Schleusen-System im stationären Zustand SZ3, und ein Taucher kann durch das geöffnete seitliche Luk L3 in die Schleuse 1 einsteigen.
• Später wird das seitliche Luk L3 wieder geschlossen.

Prepare to receive a diver.

• The controller 3 transfers the lock system to the dynamic state DZ1 (lock is flooded).
• The lock system remains in the dynamic state DZ1 until event E2 has occurred, which also in Fig. 2 is shown and which ends the supply of water in the lock 1.
• Thereafter, controller 3 transfers the lock system to the stationary state SZ2 (lock is filled with water, internal pressure prevails).
• The controller 3 then triggers the step that the air in the upper region L is compressed rapidly (event E15). The lock system is in the dynamic state DZ5 (air in the lock is compressed quickly).
• The lock system remains in the dynamic state DZ5 until event E4 is detected, which also in Fig. 2 is shown and means that the air pressure sensor S2 measures the pressure that the surrounding water has.
• The lock system is now in the stationary state SZ3, and a diver can enter the lock 1 through the open side hatch L3.
• Later the side hatch L3 is closed again.

As already mentioned, the diver must not be endangered by the pressure increase or pressure drop in the lock 1. On the other hand, the discharge and pick-up should be carried out as quickly as possible. In one embodiment, therefore, a required time profile P (t) of the air pressure P in the upper region L is specified over the time t. This set time curve is calculated in advance and depends on the pressure of the surrounding water, which is measured by the pressure sensor S3, or on a predetermined target air pressure. According to the required time profile, the pressure in the lock 1 should increase when it is discharged until it reaches the pressure of the surrounding water, and decrease when taking up until it reaches the pressure inside the pressure body 5 without endangering the diver.

The controller 3 belongs to a closed air pressure control circuit with the required time profile P (t) of the air pressure P in the lock 1 as the reference variable. The control described below is carried out both when discharging and when taking in a diver after the water in the lock 1 has reached a required height (steady state SZ2 reached). In one embodiment, this event is detected solely by the water pressure sensor S1. In one embodiment, the process of leading water through the fluid connection 12 into the lock 1 is ended when the pressure that the water pressure sensor S1 measures is a predetermined amount above the pressure that the air pressure sensor S2 measures . The diver in the lock 1 is supplied via an external supply, for example via oxygen cylinders.

The air pressure sensor S2 measures the actual current air pressure P_actual in the area L above the water surface WO. In order to reduce the control deviation, that is to say the deviation between a required pressure P and the measured actual pressure P_actual, the controller 3 controls the two valves V1 and V2 via the control logic 4 in order to reduce the air pressure in the upper region L of the lock 1 enlarge or reduce. The air that the diver exhales in the lock 1 and that can change the pressure in the area L in an unpredictable manner, and inevitable fluctuations in the supply of compressed air and / or water, act as a disturbance variable in the control-technical sense. The control is carried out as long as the diver is in lock 1 and is ended when the lock is discharged when the steady state SZ3 (lock is filled with water, external pressure prevails) and the diver leaves lock 1 through the side hatch L3 can, and ended when recording, when the steady state SZ2 (lock is filled with water, internal pressure prevails) and the diver can leave the lock 1 through the lower hatch L1.

Fig. 6 schematically shows the control loop used to regulate the air pressure. The command variable is the required time profile P (t) of the air pressure in the upper area L. The control variable is the actual air pressure P_act (t), which the air pressure sensor S2 measures. The actuators are the two valves V1 and V2. The manipulated variables are the calculated positions of the valve bodies of these two valves V1 and V2, which can be changed during the control. The controller 3 calculates the values for these manipulated variables, and the actuating logic 4 generates corresponding actuating commands for the valves V1 and V2.

A further control circuit is preferably implemented, while water is conducted upward into the lock 1 through the fluid connection 12 from the control cell system 7. It is to be prevented that the water, which is led into the lock 1 via the fluid connection 12, bubbles or gurgles, because this leads to undesired noises. Such undesirable bubbling or gurgling occurs especially when the water level in the lock 1 is low, ie at the beginning of the process of flooding the lock 1. Therefore, a required temporal course of the inflow speed v into the lock 1 as a function of the water level h in the lock 1 is predetermined. The controller 3 receives signals from the water pressure sensor S1 and uses it to derive the current water level h_actual in the lock 1. In one embodiment, the controller 3 also receives signals from the acoustic sensor S4 and uses them for the control. The controller 3 controls the valve V3 via the control logic 4 so that the actual inflow velocity v_actual is equal to the required flow velocity v as a function of the measured water level h_actual. In one embodiment, the controller 3 reduces the inflow speed v when the acoustic sensor S4 measures relevant noises.

Fig. 7 shows schematically the control loop which is used for supplying the water in the lower region W of the lock 1. The reference variable is the required flow velocity v of the water through the fluid connection 12 into the lock 1 as a function of the measured fill level (the fill height h). The controlled variable is the measured actual flow velocity v_actual. The controller 3 directs the flow velocity v_Ist and the level (the filling level h_Ist) of the water in the Lock 1 from the measured values of the two sensors S1 and S2. The only manipulated variable is a position of the valve V3 to be set in the fluid connection 12.

• Der Regler 3, die Stell-Logik 4, ein Ventil V1, V2, V3 oder ein Sensor S1 bis S5 ist ausgefallen und gibt keine Signale oder aber eine Fehlermeldung aus.
• Der Wasserdruck-Sensor S1 liefert einen kleineren Wert als der Luftdruck-Sensor S2. Dies ist ein Fehler, denn die Wassersäule über dem Wasserdruck-Sensor S1 übt immer einen größeren Druck auf den Sensor S1 aus als die Druckluft auf den Sensor S2.
• Ein Messwert von einem Sensor S1 oder S2 ist physikalisch nicht möglich, oder die Messwerte verändern sich in einer physikalisch nicht möglichen Weise.
• Ein Taucher oder ein Besatzungsmitglied hat einen Nothalt-Schalter betätigt.

The controller 3, the control logic 4, the valves V1, V2 and V3 and the sensors S1 to S5 are preferably continuously monitored. If an error is detected, the valves V1, V2 and V3 are closed quickly in order to prevent an uncontrolled change in the air pressure or the water level in the lock 1. A message is issued so that a crew member of the submarine can manually control the valves V1, V2 and V3 and, if necessary, close the ball valve K1. The following faulty situations are identified in particular:

• The controller 3, the control logic 4, a valve V1, V2, V3 or a sensor S1 to S5 has failed and does not output any signals or an error message.
• The water pressure sensor S1 delivers a smaller value than the air pressure sensor S2. This is a mistake because the water column above the water pressure sensor S1 always exerts a greater pressure on the sensor S1 than the compressed air on the sensor S2.
• A measured value from a sensor S1 or S2 is not physically possible, or the measured values change in a way that is not physically possible.
• A diver or crew member operated an emergency stop switch.

• Die Fluidverbindung 11 verbindet die Schleuse 1 nicht mit einer Druckluft-Anlage 6, sondern ebenfalls mit dem Inneren des Druckkörpers 5. Ein Kompressor 8 ist an der Fluidverbindung 11 angeordnet und vermag Luft aus dem Inneren des Druckkörpers 5 zu komprimieren und in die Fluidverbindung 11 zu leiten.
• Um den Druck im Bereich L der Schleuse 1 stärker zu komprimieren, als der Kompressor 8 es vermag, vermag eine Zwei-Wege-Pumpe 19 Wasser aus der Regelzellen-Anlage 7 über eine Bypass-Fluidverbindung 13 um das Ventil V3 herum in die Schleuse 1 zu pumpen und umgekehrt Wasser aus der Schleuse 1 in die Regelzellen-Anlage 7 zu fördern. Die Zwei-Wege-Pumpe 19 ist vorzugsweise als hydraulische Pumpe ausgelegt und vermag auch bei einem teilweisen Ausfall der Stromversorgung noch Wasser zu fördern.

Fig. 8 shows a second embodiment of the lock system according to the solution. The control logic 4 is not shown in this and the following figures. The lock system according to Fig. 8 differs from the lock system of as follows Fig. 1 :

• The fluid connection 11 does not connect the lock 1 to a compressed air system 6, but also to the interior of the pressure body 5. A compressor 8 is arranged on the fluid connection 11 and is able to compress air from the interior of the pressure body 5 and into the fluid connection 11 conduct.
• In order to compress the pressure in the area L of the lock 1 more than the compressor 8 is capable of, a two-way pump 19 can supply water from the control cell system 7 via a bypass fluid connection 13 around the valve V3 into the lock 1 to pump and vice versa water from the lock 1 in the Control cell system 7 to promote. The two-way pump 19 is preferably designed as a hydraulic pump and can still deliver water even in the event of a partial power supply failure.

A high air pressure is built up in area L of lock 1 by closing valve V1 and conveying further water into lock 1.

Fig. 9 shows a third embodiment of the lock system according to the solution. In this third embodiment, three level switches F1, F2, F3 are provided instead of an air pressure sensor S2. Each level switch F1, F2, F3 emits a signal when the water in the lock 1 reaches this switch. In this embodiment, the pump is a one-way pump 9 and can deliver water from the control cell system 7 into the lock 1, but not vice versa. In the third embodiment, the lock 1 is not connected to a compressed air system via a fluid connection 11. The pressure of the air in the upper region L is only controlled by the level of the water when the valve V1 is closed.

Fig. 10 shows a fourth embodiment of the lock system according to the solution. In this fourth embodiment, the lock 1 is not connected to a control cell system 7 via a fluid connection 12, but rather via a fluid connection 22 to the ambient water in which the underwater vehicle is swimming. A bilge pump 20 can pump water against the water pressure of the surrounding water out of the lock 1. The controller 3 is able to control the one-way bilge pump 20 in such a way that the bilge pump 20 pumps water at a predetermined flow rate. Two valves V4 and V5 control the inflow of surrounding water into lock 1. The valve V4 has a larger diameter than the valve V5 and therefore enables a larger flow rate. The controller 3 can control the two valves V4 and V5 independently of one another and thus realize a large number of possible inflow rates.

Fig. 11 shows a fifth embodiment of the lock system according to the solution. Just like the fourth embodiment shown in Figure 10 is shown, in the fifth embodiment, the lock 1 is connected to the surrounding water via a fluid connection 22. In contrast to the fourth embodiment, a two-way pump 19 is present, just as in the second embodiment. This two-way pump 19 is controlled by the controller 3 and can selectively pump water out of the lock 1 against the pressure of the surrounding water, so it then acts as a bilge pump or to let water flow into the lock 1. In this embodiment, the fill level is measured with the aid of the water pressure sensor S1 and three fill level switches F1, F2 and F3. In the fifth embodiment, the lock 1 is not connected to a compressed air system via a fluid connection 11. The pressure of the air in the upper region L is only controlled by the level of the water when the valve V1 is closed. In the fifth embodiment too, the pressure of the air in the region L is controlled only by the level of the water. Reference numerals 1 Lock of the lock system in the form of a chamber, comprising hatches L1, L2 and L3, can be filled with water 2nd Grid in lock 1 on which a diver can stand 3rd Controller, receives signals from sensors S1, S2, generates control signals for control logic 4 in order to control valves V1, V2, V3 4th Control logic, receives control signals from controller 3, controls valves V1, V2, V3 via individual control commands 5 Pressure body of the submarine, encloses the interior I, which is connected to the lock 1 via the fluid connection 10 6 Compressed air system, connected to the lock 1 via the fluid connection 10 7 Control cell system of the submarine, is able to change the trim position of the submarine in the water, connected to the lock 1 via the fluid connection 11 8th optional compressor, arranged on the fluid connection 11, compresses air from the inside of the pressure body 5 9 A one-way pump is able to pump water from the control cell system 7 through a fluid connection 13, 22 into the lock 1 10th Fluid connection for venting the lock 1, leads into the pressure body 5, can be closed by the valve V1 11 Fluid connection, which connects the compressed air system 6 to the lock 1, can be closed by the valve V2 12th Fluid connection from the control cell system 7 to the lock 1 can be closed by the valve V3 13 Bypass fluid connection around valve V3 16 Muffler, arranged at the mouth of the fluid connection 11 in the lock 1 19th Two-way pump, can either deliver water into lock 1 or out of lock 1 20th Bilge pump, pumps water out of the lock 1 against the pressure of the surrounding water to the outside 22 Fluid connection that connects the lock 1 with the surrounding water F1, F2, F3 Level switch on the wall of lock 1, generates a signal when the water in lock 1 reaches the respective switch I. Interior inside the pressure tank 5 K1 mechanical ball valve, enables the fluid connection 10 to be closed manually L Area in the lock 1 above the water surface WO, filled with compressed air L1 lower hatch through which a diver can get into the lock 1 L2 upper hatch, acts as an emergency exit L3 side hatch through which a diver can get out of lock 1 from the side M1 analog manometer, measures the water pressure in the fluid connection 12 S1 Electronic water pressure sensor, measures the pressure of the water in the area W of the lock 1 below the surface WO, attached to the inner wall of the lock 1 S2 Electronic air pressure sensor, measures the pressure of the air in the area L of the lock 1 above the water surface WO, attached to the inner wall of the lock 1 S3 External pressure sensor, measures the pressure of the water that surrounds the submarine S4 Acoustic sensor, measures the noise development at the inlet of the fluid connection 12 into the lock 1 S5 Internal pressure sensor, measures the air pressure that prevails inside the pressure vessel 5 V1 Valve in the fluid connection 10 for venting the sluice 1 V2 Valve in the fluid connection 11 from the compressed air system 6 to the lock 1 V3 Valve in the fluid connection 12 from the control cell system 7 to the lock 1 V4, V5 Valve, which control the inflow of surrounding water into the lock 1 W Area in lock 1 below the water surface WO, filled with water WHERE Water surface of the water in the lock 1

Claims (25)

Underwater vehicle with a lock system for discharging at least one diver under water,
being the lock system - a lock (1) for discharging the or at least one diver, - A first fluid connection (11, 12) and - a first flow rate setting unit (V2, V3) includes,
wherein a fluid can be passed through the first fluid connection into the lock (1),
the first flow rate setting unit (V2, V3) being designed to set the flow rate of fluid through the first fluid connection (11, 12) into the lock (1) to a predetermined value,
characterized in that
the lock system - A controller (3, 4) and - a fluid pressure sensor (S2) includes,
the fluid pressure sensor (S2) being designed to measure a quantity which correlates with the pressure (P_act (t)) of a fluid in the lock (1), and
the controller (3, 4) being designed to
depending on signals from the fluid pressure sensor (S2) to control the first flow rate setting unit (V2, V3) with the control goal that the measured fluid pressure (P_act (t)) increases until it is equal to a predetermined or measured or calculated Target value (P (t)) for the fluid pressure is. Underwater vehicle according to claim 1,
characterized in that
the underwater vehicle comprises a water pressure sensor (S3) which is designed to measure a quantity which is correlated with the pressure of the water surrounding the underwater vehicle,
the controller (3, 4) being designed to calculate the target value as a function of a signal from the water pressure sensor (S3). Underwater vehicle according to one of the preceding claims,
characterized in that
the controller (3, 4) is designed to
to control the first flow rate setting unit (V2, V3) in such a way that the increase in fluid pressure (P_act (t)) in the lock (1) fulfills a predetermined secondary condition. Underwater vehicle according to one of the preceding claims,
characterized in that
at least one pressure curve (P (t)) is stored in a data memory of the controller (3, 4),
wherein the or each stored pressure curve specifies a required time curve of the increasing fluid pressure in the lock (1) and
the controller (3, 4) being designed to
to control the first flow rate setting unit (V2, V3) with the control target depending on signals from the fluid pressure sensor (S2),
that the time course of the increasing fluid pressure (P_act (t)) is equal to or a stored required time pressure course. Underwater vehicle according to claim 4,
characterized in that
a first and at least a second temporal pressure curve are stored in the data memory of the controller (3, 4),
the two pressure profiles differing in terms of the required speed and / or the acceleration with which the pressure increases in a time interval,
wherein a stored chronological pressure curve can be selected and
the controller (3, 4) being designed to select the first flow rate setting unit (V2, V3) depending on signals from the fluid pressure sensor (S2) - With the control goal that the time course of the rising fluid pressure is equal to the first stored pressure course, or with the aim of regulating that the time course of the rising fluid pressure is equal to the second stored pressure course, head for. Underwater vehicle according to one of the preceding claims,
characterized in that
Water as the fluid can be conducted through the first fluid connection (11, 12) into the lock (1),
a condition can be produced in which - A lower area (W) of the lock (1) is filled with water and - an upper area (L) of the lock (1) is filled with air, the fluid pressure sensor (S2) being designed to measure a quantity which correlates with the pressure (P_act (t)) of the air in the upper region (L),
the controller (3, 4) being designed to
to control the first flow rate setting unit (V2, V3) with the control target depending on signals from the fluid pressure sensor (S2),
that the first fluid connection (11, 12) causes or enables the inflow of water into the lock (1) for as long as
until the rising fill level of the water in the lock (1) leads to an air pressure in the upper area (L) which is equal to the target value for the air pressure. Underwater vehicle according to one of the preceding claims,
characterized in that
the underwater vehicle has a reservoir (6, 8, I) for fluid, in particular for air, and
the first fluid connection (11, 12) causes or enables the inflow of fluid from the air reservoir (6, 8, I) into the lock (1). Underwater vehicle according to claim 7,
characterized in that
the fluid reservoir (6, 8, I) comprises a compressed air system (6) and
the first flow rate setting unit (V2, V3) comprises a compressed air valve (V2), the compressed air system (6) being designed to provide compressed air and the controller (3, 4) being designed to Reaching the control target to control the compressed air valve (V2) depending on signals from the fluid pressure sensor (S2). An underwater vehicle according to claim 7 or claim 8,
characterized in that
the fluid reservoir (6, 8, I) comprises a compressor (8) for air,
wherein the air compressor (8) is designed to generate an air pressure in the upper region (L) of the lock (1) which is greater than the air pressure in the air reservoir, and
the controller (3, 4) being designed to
depending on signals from the fluid pressure sensor (S2) to control the air compressor (8) with the control goal that the air pressure rises in the upper area (L) until it is equal to the target value for the air pressure. Underwater vehicle according to one of the preceding claims,
characterized in that
the lock system - A second fluid connection (12) and - a second flow rate adjustment unit (V3) includes,
wherein air can be conducted into the lock (1) through the first fluid connection (11),
wherein water can be conducted into the lock (1) through the second fluid connection (12),
a condition can be produced in which - A lower area (W) of the lock (1) is filled with water and - an upper area (L) of the lock (1) is filled with air, wherein the second flow rate setting unit (V3) is designed, depending on a control by the controller (3, 4), either to prevent the flow of water through the second fluid connection (12) or to enable or to effect it, and
the controller (3, 4) being designed to - Both the first flow rate setting unit (V2) to achieve the control target depending on signals from the fluid pressure sensor (S2) - As well as to control the second flow rate setting unit (V3) in such a way that the second flow rate setting unit (V3) causes or enables the inflow of water into the lock (1) until the water level in the lock increases (1) fulfills a given property. Underwater vehicle according to one of the preceding claims,
characterized in that
the lock system comprises a fill level sensor (F1, F2, F3, S1, S2), the fill level sensor (F1, F2, F3, S1, S2) being designed to measure a quantity that corresponds to the fill level the water in the lower area (W) correlates,
a condition can be produced in which - A lower area (W) of the lock (1) is filled with water and - an upper area (L) of the lock (1) is filled with air, wherein the first fluid connection or a further fluid connection (12) of the lock system is designed as a water-fluid connection, through which water can be conducted into the lock (1),
wherein the first flow rate setting unit or a further flow rate setting unit (V3) of the lock system is designed as a water flow rate setting unit which determines the flow rate of water through the water-fluid connection (12) is able to set a predetermined value,
the controller (3, 4) being designed to - determine the current level of the water in the lock (1) depending on signals from the level sensor (F1, F2, F3, S1, S2), - The water flow rate setting unit (V3) to control and depending on the determined level - To achieve the control target, the water flow rate setting unit (V3) is to be controlled as a function of signals from the fluid pressure sensor (S2) and as a function of the determined current level of the water. Underwater vehicle according to claim 11,
characterized in that
the controller (3, 4) is designed to
calculate the current level of the water in the lock (1) depending on signals from the fluid pressure sensor (S2) and signals from the level sensor (F1, F2, F3, S1, S2). An underwater vehicle according to claim 11 or claim 12,
characterized in that
a required functional dependency (v (h)) - a measure of the flow rate (v) or for the flow rate of water through the water-fluid connection (12) - depending on the level (h) of water in the lock (1) is given
the controller (3, 4) being designed to control the water flow rate setting unit (V3) with the aim of
that the actual flow rate (v) or flow rate through the water-fluid connection according to the required functional dependency (v (h)) depends on the determined actual fill level (h) in the lock (1). Underwater vehicle according to one of the preceding claims,
characterized in that
the underwater vehicle comprises a water tank (7),
wherein the first fluid connection or a further fluid connection (12) of the lock system is designed as a water-fluid connection (12), through which water can be conducted from the water tank into the lock (1),
wherein the first flow rate setting unit or a further flow rate setting unit (V3) of the lock system is designed as a water flow rate setting unit (V3) which determines the flow rate of water through the water-fluid connection (12 ) is able to adjust to a predetermined value, and
wherein the controller (3, 4) is designed to control the water flow rate setting unit (V3). Underwater vehicle according to one of the preceding claims,
characterized in that
the first fluid connection or a further fluid connection (22) of the lock system is designed as a water-fluid connection, through which water, which surrounds the underwater vehicle, can be conducted into the lock (1),
wherein the first or a further flow rate setting unit (20) of the lock system is designed as a water flow rate setting unit, which is able to set the flow rate of water through the water-fluid connection (22) to a predetermined value , and
wherein the controller (3, 4) is configured to control the water flow rate setting unit (20). Underwater vehicle according to one of the preceding claims,
characterized in that
the lock system - A third fluid connection (10) and - a third flow rate setting unit (V1) includes,
wherein fluid can be conducted out of the lock (1) through the third fluid connection (10),
wherein the third flow rate setting unit (V1) is configured to set the flow rate of fluid through the third fluid connection (10) to a predetermined value, and
The controller (3, 4) is designed to additionally control the third flow rate setting unit (V1) depending on signals from the fluid pressure sensor (S2) in order to achieve the control target. Underwater vehicle according to one of the preceding claims,
characterized in that
the lock system - an entry opening (L1) and - an exit opening (L3), includes,
the controller (3, 4) being configured to control the first flow rate setting unit while both openings (L1, L3) are closed. Method for removing at least one diver from a submersible underwater,
a lock system of the underwater vehicle is used for the discharge,
the lock system used - a lock (1) for receiving the or at least one diver, - A first fluid connection (11, 12) and - a first flow rate setting unit (V2, V3) includes,
the method comprising the steps of - the or each diver goes out of the underwater vehicle into the lock (1), a fluid is passed through the first fluid connection into the lock (1), - The first flow rate setting unit (V2, V3) sets the flow rate of fluid through the first fluid connection (11, 12) into the lock (1) to a predetermined value, and - the or each diver goes out of the lock (1) into the surrounding water, characterized in that
the lock system - A controller (3, 4) and - a fluid pressure sensor (S2) includes,
the method comprising the further steps that - The fluid pressure sensor (S2) measures a quantity that correlates with the pressure of a fluid in the lock (1), and - The controller (3, 4) automatically controls the first flow rate setting unit (V2, V3) with the control target as a function of signals from the fluid pressure sensor (S2) so that the measured fluid pressure (P_act (t)) increases, until it is equal to a predetermined or measured or calculated target value for the fluid pressure (P (t)). Method according to claim 18,
characterized in that
at least one pressure curve is stored in a data memory of the controller (3, 4),
wherein the or each stored pressure curve specifies a required time curve of the pressure in the upper region (L) of the lock (1),
wherein the step that the controller (3, 4) drives the first flow rate setting unit comprises the step that
the fluid pressure sensor (S2) measures a time course of the variable correlating with the fluid pressure,
the controller (3, 4) controls the first flow rate setting unit (V2, V3) with the control target as a function of signals from the fluid pressure sensor (S2),
that the measured time profile of the increasing fluid pressure is equal to the stored or a required time pressure profile. Method according to claim 19,
characterized in that
at least two different temporal pressure profiles are stored in a data memory of the controller (3, 4),
wherein each stored pressure curve specifies a required temporal curve of the fluid pressure in the lock (1),
the two pressure profiles differing in terms of the speed and / or the acceleration with which the pressure increases in a time interval,
the method comprising the steps of - a saved pressure curve is selected and the controller (3, 4) controls the first flow rate setting unit (V2, V3) with the control target depending on signals from the fluid pressure sensor (S2), - That the time course of the measured increasing fluid pressure is equal to the selected required time pressure course. Method according to one of claims 18 to 20,
characterized in that
the lock system - A second fluid connection (12) and - a second flow rate adjustment unit (V3) includes,
establishing a state in which - A lower area (W) of the lock (1) is filled with water and - an upper area (L) of the lock (1) is filled with air, while the diver is in the lock (1), and
the method comprising an air pressure increase process and a level increase process,
the air pressure rise process comprising the steps of - Air is passed through the first fluid connection (11) into the lock (1) and - The controller (3, 4) controls the first flow rate setting unit (V2) as a function of signals from the fluid pressure sensor (S2) to achieve the control target and wherein the level increase process comprises the steps of - Water is passed through the second fluid connection (12) into the lock (1) so that the fill level rises, and - The controller (3, 4) controls the second flow rate setting unit (V3) in such a way that the second flow rate setting unit (V3) causes or enables the inflow of water into the lock (1) until the fill level of the Water in the lock (1) fulfills a predetermined property. 22. The method of claim 21,
characterized in that
the level increase process is started before the air pressure increase process and
the air pressure rise process is started before the level rise process ends. Underwater vehicle with - A pressure body (5) which encloses a fluid-filled inner region (I) in which a person can stay, and - a lock system for receiving at least one diver under water,
being the lock system - a lock (1) for receiving the or at least one diver, - A first fluid connection (11, 12) and - a first flow rate setting unit (V2, V3) includes,
wherein a fluid can be conducted out of the lock (1) through the first fluid connection (11, 12),
wherein the first flow rate setting unit (V2, V3) is configured to set the flow rate of fluid from the lock (1) through the first fluid connection (11, 12) to a predetermined value,
characterized in that
the lock system - A controller (3, 4) and - a fluid pressure sensor (S2) includes,
the fluid pressure sensor (S2) being designed to measure a quantity which correlates with the pressure (P_act (t)) of a fluid in the lock (1), and
the controller (3, 4) being designed to
depending on signals from the fluid pressure sensor (S2) to control the first flow rate setting unit (V2, V3) with the control goal that the measured fluid pressure (P_act (t)) drops until it is equal to the pressure in the interior (I ) of the pressure body (5). The underwater vehicle according to claim 23,
characterized in that
at least one pressure curve is stored in a data memory of the controller (3, 4),
wherein the or each stored pressure curve specifies a required temporal curve of the falling fluid pressure in the lock (1),
the controller (3, 4) being designed to
to control the first flow rate setting unit (V2, V3) with the control target depending on signals from the fluid pressure sensor (S2),
that the time course of the falling measured fluid pressure (P_act (t)) is equal to or a stored required time pressure course. Method for receiving at least one diver underwater in a submersible,
being the underwater vehicle - A pressure body (5) which encloses a fluid-filled inner region (I) in which a person can stay, and - a lock system for receiving the or each diver under water includes,
being the lock system - a lock (1) for receiving the or at least one diver, - A first fluid connection (11, 12) and - a first flow rate setting unit (V2, V3) includes,
the method comprising the steps of - the or each diver goes out of the surrounding water into the lock (1), a fluid is guided out of the lock (1) through the first fluid connection (11, 12), - The first flow rate setting unit sets the flow rate of fluid from the lock (1) through the first fluid connection (11, 12) to a predetermined value and - the or each diver goes out of the lock (1) into the interior (I), characterized in that
the lock system - A controller (3, 4) and - a fluid pressure sensor (S2) includes,
the method comprising the further steps that - The fluid pressure sensor (S2) measures a quantity that correlates with the pressure (P_act (t)) of a fluid in the lock (1), and depending on signals from the fluid pressure sensor (S2), the controller (3, 4) automatically controls the first flow rate setting unit (V2, V3) with the control objective that the measured fluid pressure (P_act (t)) drops, until it is equal to the pressure in the inner region (I) of the pressure body (5).

Images