EP4100312B1 - Boîte de transport pour la mise à l'eau d'une embarcation - Google Patents

Boîte de transport pour la mise à l'eau d'une embarcation Download PDF

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Publication number
EP4100312B1
EP4100312B1 EP21736544.4A EP21736544A EP4100312B1 EP 4100312 B1 EP4100312 B1 EP 4100312B1 EP 21736544 A EP21736544 A EP 21736544A EP 4100312 B1 EP4100312 B1 EP 4100312B1
Authority
EP
European Patent Office
Prior art keywords
transport box
watercraft
water
frame
lowering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21736544.4A
Other languages
German (de)
English (en)
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EP4100312A1 (fr
Inventor
Christian Rühle
Malte SACKMANN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ThyssenKrupp AG
Atlas Elektronik GmbH
Original Assignee
ThyssenKrupp AG
Atlas Elektronik GmbH
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Publication of EP4100312A1 publication Critical patent/EP4100312A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C3/00—Launching or hauling-out by landborne slipways; Slipways
    • B63C3/12—Launching or hauling-out by landborne slipways; Slipways using cradles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor

Definitions

  • the invention relates to a transport box for setting down an unmanned watercraft, in particular an unmanned (e.g. cable-bound) underwater vehicle, by means of a traction device (e.g. a cable winch), for example from a helicopter or another base station.
  • a traction device e.g. a cable winch
  • unmanned underwater vehicles are launched from a ship and sent on their mission.
  • a typical mission of unmanned underwater vehicles is the destruction of sea mines.
  • the need has arisen to be able to launch the unmanned underwater vehicles from a helicopter.
  • EP 1 249 390 A1 discloses a cage.
  • the cage consists of lower and upper frames connected by a series of flexible cables wound on pulleys driven by one or more motors to allow the distance between the two frames to be varied.
  • the cage equipped with support frames for the submersible vehicle, is lowered to the required depth by a rope connected to a winch on a surface unit and the cage frames are positioned to secure the submersible vehicle or to allow its launch or recovery.
  • EP 2 468 620 A1 discloses a device having a mechanical locking unit for mechanically locking a receiving basket to a handling structure attached to a marine surface vehicle.
  • JP S51 102 900 A discloses a device for recovering a submersible vehicle from the sea and storing it on a mother ship.
  • KR 102 034 172 B1 discloses an underwater vehicle launching device that launches an underwater vehicle from a helicopter or a ship.
  • WO 00/71415 A1 discloses a docking device for self-propelled autonomous underwater vehicles.
  • the object of the present invention is therefore to create an improved concept for the launching of watercraft.
  • Embodiments show a transport box for lowering a watercraft into the water using a cable winch.
  • the transport box has a holder for fastening the traction means for lowering the transport box and a frame which is designed to receive the watercraft in the transport box, in particular to fix it in place.
  • the transport box is designed to receive the watercraft on the top and lower it into the water on the bottom.
  • the invention is described in the context of watercraft, which also includes (unmanned) ships, but is mainly designed for underwater vehicles, for example autonomous (AUV) or cable-guided (ROV) unmanned underwater vehicles, which are no larger than a human.
  • the invention is also suitable for other underwater vehicles, for example torpedoes, but these are typically larger than a human, so that the transport box would then have to be larger than a typical rescue stretcher.
  • some embodiments exclude the use of surface vehicles (e.g. ships). These are primarily the embodiments in which the frame of the transport box automatically rotates due to its buoyancy when the transport box is submerged in the water.
  • the watercraft is inevitably exposed under water.
  • Watercraft are both (diving) underwater vehicles and (floating) surface vehicles, such as ships.
  • the transport box is also advantageously used for unmanned watercraft. Watercraft with a human crew would probably be too large to be dropped off from a helicopter.
  • the transport box was developed for use with a helicopter. However, it has been shown that this also makes it easier to set the transport box down from a ship, for example.
  • the on-board crane with a special launching device is used to set the unmanned watercraft down from the ship. With this method, the launching device is placed on the underwater vehicle from above, which requires manual carrying or a lifting device.
  • mission preparation takes place unprotected on deck so that the watercraft with launching device can be picked up by the on-board crane.
  • the stressed, top-loading transport box thus increases personal safety and flexibility during missions on a ship.
  • the term base station also includes the helicopter and the ship.
  • the water is typically sea water, i.e. salt water, as this is where unmanned watercraft are mainly used.
  • the transport box can also be used in fresh water.
  • a rope preferably in the form of a cable winch, is used as a traction device.
  • This can be the rescue winch, which is fitted as standard on many helicopters.
  • the rescue winch is designed for rescuing people who can be pulled from the ground into the helicopter on a rescue stretcher.
  • the transport box can now be lowered from the helicopter and pulled up again using the rescue winch.
  • the transport box is advantageously no larger than the dimensions of the rescue stretcher, so that it can be pulled from the helicopter just like the rescue stretcher. Helicopter personnel can handle it.
  • a telescopic rod or something similar could be used to lower the transport box from the helicopter into the water.
  • the helicopter can also be equipped with another winch, e.g. in conjunction with a boom, with which the transport box can then be lowered into the water. It has been shown that the transport box can also simplify the lowering of the watercraft from a ship or another base station.
  • a boom with a cable winch e.g. in the form of an on-board crane, can be arranged on the base station, with which the watercraft can be lowered into the water.
  • the bracket is, for example, a bracket of the transport box.
  • the frame is mechanically connected to the bracket and is typically located below the bracket when the transport box is suspended freely from the traction device using the bracket.
  • the transport box is primarily designed for multiple use with a single deployed watercraft. This is necessary because the underwater vehicle itself is destroyed when the sea mine is destroyed.
  • the idea is to create a simple transport box that can be used with standard helicopters to lower the watercraft from the helicopter into the water and set it down there. This is made possible by the bracket that can be attached to the helicopter's rescue winch. Furthermore, for safety reasons, it is best to avoid carrying heavy objects such as the watercraft or the transport box in the helicopter or moving them with your hands without securing them.
  • the transport box in the helicopter is advantageously loaded from above, while the transport box itself rests safely on the cabin floor of the helicopter.
  • the advantage of lowering the buoyancy is that they can initially sink downwards when the frame is submerged before they then gain speed. This is possible because underwater vehicles are often negatively trimmed and thus, if they stand still, they inevitably sink towards the sea or ocean floor.
  • the buoyancy can be controlled accordingly (e.g. by means of a lifting engine in the underwater vehicle).
  • the frame is movable relative to the holder in order to pick up the watercraft from the top and release it into the water from the bottom.
  • the frame can have a two-part opening on its underside, similar to a two-shell shovel on an excavator, which releases the watercraft when it is to be placed in the water.
  • the frame can also rotate about an axis that runs through the holder. The opening in the frame through which the transport box is loaded is then the same opening through which the watercraft is placed in the water. However, due to the rotation of the frame, the opening is arranged on the top of the transport box when it is loaded and on the bottom when the watercraft is placed.
  • Relative terms for the orientation (top, bottom) relating to the transport box refer to the transport box in the orientation in which it is hanging freely on the traction device.
  • Relative terms for the orientation (top, bottom) relating to the watercraft refer to the preferred orientation of the watercraft when it is moving in the water.
  • Embodiments show the transport box, which accommodates the watercraft in a first orientation and places the watercraft in the water in a second orientation. This is advantageous, for example, for securing the watercraft.
  • the watercraft typically has a bracket to which the watercraft can be secured.
  • the watercraft In order to fill the transport box from above and at the same time ensure that the watercraft is secured continuously, it is therefore advantageous to place the watercraft upside down in the frame.
  • the watercraft should be placed in the water in its normal orientation. To do this, it can be rotated in the transport box.
  • the frame is connected to the holder by means of a hinge, so that the frame can be rotated about a rotation axis of the hinge in order to pick up the watercraft from the top and release it into the water from the bottom. Because the hinge is connected to the holder, the rotation axis passes through the holder.
  • the rotation of the frame can be carried out by an (electric) motor.
  • the transport box can also set the watercraft down above the water surface.
  • This embodiment is also suitable for setting down ships as watercraft.
  • the frame has a buoyancy element that has a lower density than the water, so that the frame assumes a first position relative to the holder in the air and a second position relative to the holder in the water in order to pick up the watercraft from above and release it into the water from below.
  • the buoyancy element is thus designed such that the entire frame and all elements firmly connected to the frame have a lower average density, i.e. a lower density in total, than the water.
  • the frame when the transport box is lowered, the frame can initially hang on the holder in such a way that the holder spans the opening in the frame through which the transport box can be loaded with the watercraft. This can be referred to as the first position.
  • the frame can move relative to the bracket, in particular rotate about an axis of rotation that runs through the bracket. This is possible, for example, if the bracket and frame are connected to each other by means of the hinge. If the transport box is completely under water, the frame can have turned by 180°, for example. The opening for loading the transport box now faces downwards. This can be referred to as the second position. The watercraft can leave the transport box again through this opening.
  • the transport box has a control unit in the absence of a wired electrical connection when the transport box is lowered into the water.
  • the control unit is arranged in the base station.
  • the transport box can be connected to the base station by means of a cable, for example to charge a battery in the transport box or to exchange large amounts of data.
  • a cable for example to charge a battery in the transport box or to exchange large amounts of data.
  • the only connection between the base station and the transport box is the traction device.
  • the traction device creates a purely mechanical connection.
  • the cable winch arranged on the base station can therefore only be used to lower the transport box.
  • a special winch or a special rope can also be used to create an electrical connection between the base station and the transport box parallel to the rope or in the rope.
  • the watercraft comprises an underwater vehicle.
  • the transport box of this embodiment is advantageously suitable for underwater vehicles.
  • the transport box has a direction finding system that is designed to determine a current position of the underwater vehicle.
  • the current position is typically determined relative to the direction finding system.
  • the direction finding system can locate the underwater vehicle acoustically, ie determine a direction and/or a distance to the underwater vehicle. This can be done using active sonar.
  • the underwater vehicle can acoustically emit a signal at a predetermined time that is received by the direction finding system. is detected.
  • the transit time can be determined as the difference between the predetermined point in time and the arrival of the signal at the direction finding system.
  • the direction from which the signal arrives can be determined using at least two, or at least three, water sound transducers (also called hydrophones) if azimuth and elevation (also called depth angle) are to be measured.
  • the embodiments with the direction finding system are preferably suitable for underwater vehicles.
  • Surface vehicles would be easier to locate, e.g. using radar, directly from the base station.
  • the transport box has a computing unit that is designed to steer the underwater vehicle to a target position based on the current position of the underwater vehicle.
  • the target position is typically subject to a certain degree of uncertainty, so that the underwater vehicle can still carry out a fine location (also referred to as re-localization) in the vicinity of the target position, in particular by means of active sonar or an underwater camera, in order to find the target regardless of the accuracy of the set target position.
  • the computing unit can also be arranged in the base station and the transport box can be controlled from there.
  • the direction finding system is arranged in the transport box in such a way that a sensor head of the direction finding system is arranged between the frame and the holder when the transport box is lowered into the water, and the sensor head of the direction finding system is arranged in the water below the frame and the holder.
  • This can be achieved by connecting the direction finding system to the frame and allowing the frame to rotate in the water about an axis through the holder.
  • the sensor head of the direction finding system has the water sound transducers.
  • the direction finding system in particular the sensor head, is thus at least partially protected by the holder and the frame when it is lowered, but in the water it can receive water sound from almost all directions without it being deflected or dampened by the frame.
  • the transport box has a receptacle for a dispenser of a signal line of the watercraft, wherein the receptacle interacts with the dispenser in such a way that the dispenser is arranged between the frame and the holder when the transport box is lowered into the water and an outlet of the dispenser extends deeper into the water after the watercraft has been lowered into the water than all other elements of the transport box.
  • the dispenser of the signal line is thus at least partially protected by the holder and the frame when it is lowered, but in the water the signal line cannot get caught with an element of the transport box even when the watercraft is driving in circles at the height of the outlet. The signal line is thus protected.
  • the signal line is, for example, an optical fiber with which the watercraft is connected to the transport box, advantageously during the entire mission.
  • the watercraft is thus a wired unmanned underwater vehicle.
  • the watercraft can be steered to the target position using the signal line, for example based on the current positions determined by the direction finding system.
  • the signal line can also be used to send a signal to the watercraft that it should send the acoustic signal for direction finding using the direction finding system.
  • Other information that can be transmitted via the signal line is status data and measured values from the underwater vehicle's sensors (e.g. sonar data), which are transmitted to the operator in the base station, for example.
  • the time at which the signal is transmitted is also referred to as the predetermined time.
  • the signal to send the acoustic signal can be sent manually by an operator from the base station or automatically (e.g. time-controlled) to the watercraft.
  • the dispenser itself can also be part of the transport box.
  • the transport box then has the dispenser for the signal line of the watercraft, the dispenser being arranged in the transport box in such a way that the dispenser is protected by the frame and the bracket when the transport box is lowered into the water and an outlet of the dispenser extends deeper into the water than all other Elements of the transport box.
  • the signal cable can then advantageously be connected to the watercraft using a plug.
  • the signal cable can be wound up in the dispenser so that there is always enough signal cable for the watercraft to complete its mission.
  • the dispenser can also only serve to protect the part of the signal cable that is connected to the transport box so that this part of the signal cable does not get caught in the transport box.
  • a supply of additional signal cable is optionally available in the watercraft.
  • the frame has a quick-release fastener that is designed to receive and automatically fix a holding device connected to the watercraft, the quick-release fastener being designed to release the fixation when the quick-release fastener receives a corresponding signal.
  • the computing unit of the transport box can be controlled from the base station in such a way that the computing unit sends the signal to the quick-release fastener to release the holding device.
  • the quick-release fastener is characterized by an uncomplicated fixation of the holding device with a maximum of one hand movement. In particular, turning a screw into a thread over more than one rotation can no longer be carried out with one hand movement and is therefore no longer considered a quick-release fastener.
  • the quick-release fastener comprises, for example, several claws similar to a drill chuck, into which the holding device snaps when the holding device is inserted into the claws.
  • the holding device can be a (metal) pin, ball head or even an eyelet that fits the quick-release fastener or its holding claws.
  • the watercraft can have a corresponding receptacle for the holding device, for example a thread, in order to be able to connect the holding device to the watercraft.
  • Embodiments show the transport box comprising a float, which has an antenna, which is designed to receive a signal from an operating unit and to forward it to a computing unit of the transport box or to send a signal from the computing unit to the operating unit, wherein the float is designed to be movably arranged on the traction means.
  • the Transport box shown in a system comprising the base station for lowering the watercraft into the water. The float is arranged in the system above the bracket so that it can move on the traction device.
  • the float can move freely along the traction device so that it is always on the water surface regardless of the diving depth of the transport box.
  • a signal line can be arranged between the antenna and the computing unit in order to forward the signal from the base station to the computing unit.
  • the transport box can also be controlled underwater by the base station using a wireless connection, for example a radio connection, e.g. WLAN (Wireless Local Area Network).
  • data from the watercraft can be sent to the base station via the wireless connection.
  • One possible signal that can be sent from the base station to the transport box is the setting down of the watercraft in the water, i.e. in embodiments, the opening of the fixing element or the quick-release fastener.
  • Embodiments also show a system comprising the transport box for setting down a watercraft into the water by means of a traction device and a loading device for loading the transport box with the watercraft.
  • the loading device is designed to receive the watercraft in such a way that a holding device with which the watercraft can be fixed in the frame of the transport box is arranged in an exposed manner.
  • the loading device has a tilting device which is designed to tilt the watercraft into the transport box in such a way that the holding device of the watercraft enters a fixing area of a fixing element and is fixed in the frame by the fixing element (manually initiated or automatically).
  • the quick-release fastener can be used as the fixing element.
  • the fixing area is the area in which the fixing element can fix the holding device. When using a locking fixing element, the holding device has entered the fixing area at the time of locking.
  • the loading device optionally also other loading devices, is advantageously arranged in or on the base station so that the loading device can load the transport box with the watercraft.
  • the loading device can ensure elastic mounting of the stowed watercraft so that any shock or vibration loads are sufficiently dampened by the base station.
  • a method for lowering a watercraft into the water using a transport box is shown with the following steps: Inserting the watercraft into the transport box from above; Picking up the watercraft in the transport box; Attaching a traction device to the transport box; Lowering the transport box into the water; Lowering the watercraft from below from the transport box into the water.
  • the order of the steps is variable within the scope of technical feasibility.
  • Picking up the watercraft can include securing the watercraft in the transport box.
  • Fig. 1a shows a schematic side view of a transport box 20 for lowering a watercraft 22 into the water by means of a traction device.
  • Fig. 1b shows the transport box 20 in a top view.
  • the watercraft 22 is not part of the transport box and is therefore shown in dashed lines.
  • the transport box 20 comprises a holder 24 and a frame 26.
  • the holder 24 serves to attach the traction device for lowering the transport box 20.
  • the holder 24 for attaching the traction device comprises an eyelet 24' into which a hook of the traction device can engage.
  • the frame 26 is designed to accommodate the watercraft 22 in the transport box 20.
  • the frame 26 has a first support element 28a and a second support element 28b to which the watercraft 22 is fixed.
  • one support element to which the watercraft is fixed is sufficient, but the weight distribution or balancing of the watercraft is easier on two separate support elements 28a, 28b, especially if the support element is not a (large-area) shell.
  • the frame should be designed in such a way that it stands securely on the cabin floor even when the helicopter rolls or pitches or when the ship is in rough seas or the base station moves in any other way.
  • Bracket 24 and frame 26 are (mechanically) connected to each other by means of a connecting element 30.
  • the connecting element 30 is exemplary designed in two parts and comprises a first and a second part element 30a, 30b, designed here as a hinge. Both hinges 30a, 30b have the same axis of rotation 30' and therefore functionally form a hinge.
  • the hinges 30a, 30b can be designed as a bolt that is passed through the frame 26 and the holder 24.
  • hinges as connecting elements is an option for the transport box 20 to pick up the watercraft 22 from above and place it in the water from below.
  • the principle of setting down the watercraft 22 is explained with reference to Fig.3 described.
  • Fig.2 shows a schematic sectional drawing of the transport box 20 in exemplary embodiments.
  • the transport box 20 has a computing unit 32.
  • the computing unit 32 is referred to Fig.6 explained in more detail.
  • the transport box 20 can have a buoyancy element 34.
  • the computing unit 32 can be embedded in the buoyancy element 34. This has the practical advantage that the computing unit 32 does not come into contact with the water. Regardless of whether the computing unit 32 is arranged in the buoyancy element 34 or separately, the buoyancy element 34 is a design of how the frame 26 can move relative to the holder 24 (automatically). A motor can also be used, but the buoyancy element has the advantage that the rotation takes place automatically when the transport box enters the water and no additional energy expenditure is necessary.
  • the buoyancy element 34 has a density that is lower than the density of the water.
  • the buoyancy element is selected such that the average density of the elements firmly connected to the frame, including the buoyancy element, is lower than the density of water.
  • the transport box 20 has a direction finding system 36.
  • the direction finding system 36 comprises a sensor head 36'.
  • a plurality of water sound transducers are arranged in the sensor head in order to be able to locate the watercraft 22.
  • the direction finding system 36 is arranged in the Transport box 20 is arranged such that the sensor head 36' of the direction finding system is arranged between the frame 26 and the holder 24 when the transport box is lowered into the water, and the sensor head 36' of the direction finding system is arranged in the water below the frame 26 and the holder 24. This is achieved in such a way that the sensor head 36' protrudes beyond the hinge 30 and is thus arranged below the hinge 30 and thus also below the frame after the frame has rotated in the water.
  • the frame 26 thus influences the location of the watercraft 22 as little as possible.
  • the direction finding system 36 can also be attached directly upside down to the holder 24 instead of to the frame 26.
  • the sensor head 36' of the direction finding system cannot reach as deep into the water due to its design.
  • the frame would have to be designed in such a way that it does not damage the direction finding system when the frame rotates relative to the holder.
  • the frame 26, in particular the support elements 28a, 28b has a quick-release fastener.
  • the quick-release fastener is not explicitly shown, but engages in the corresponding holding devices 38a, 38b of the watercraft 22 in order to fix them.
  • the quick-release fastener makes it safer to handle the watercraft on the base station and the transport box can be loaded with a new watercraft more quickly.
  • the quick-release fastener can be operated remotely in order to release the watercraft 20. If a fixing element is provided in each of the support elements 28a, 28b, the fixing elements can differ from one another, for example have different quick-release fasteners.
  • the watercraft 22 is equipped with two further optional modifications compared to Fig.1 shown.
  • the watercraft 22 has an (active) sonar 40 on the underside in the front area. Using the sonar 40, the watercraft can independently locate the target when it is near the target, for example when it has reached the target position.
  • the watercraft 22 also optionally has a signal generating system 42 that can send out an acoustic signal (also referred to as a ping) that can be detected by the direction finding system 36 in order to locate the watercraft 22.
  • the watercraft 22 is optionally connected by means of a signal line 44, in particular an optical fiber, to a dispenser 46 in which a supply of the signal line 44 can be present, for example rolled up. If the watercraft 22 moves away from the transport box 20, the dispenser 46 releases further signal lines 44 so that the watercraft 22 is ideally connected to the transport box 20 by means of the signal line 44 until the mission is completed.
  • the supply of signal lines can optionally also be arranged in the watercraft 22, advantageously in the rear area, or both the watercraft and the dispenser 46 each have a proportional supply of signal lines.
  • the signal line 44 is firmly connected to the watercraft 20 so that the dispenser 46 is only connected to the transport box when the transport box 20 is loaded with the watercraft 22; the signal line 44 and dispenser 46 are therefore shown in dashed lines, as is the watercraft 22.
  • the transport box 20 has a holder 48 for the dispenser 46.
  • the dispenser 46 is advantageously arranged rotatably on the holder 48. The dispenser initially takes up little space and can be arranged underneath the watercraft 22. As soon as the watercraft is in the water and moves away from the transport box 20, the dispenser 46 can fold out. If the dispenser 46 is long enough and positioned correctly, an outlet 46' of the dispenser can extend deeper into the water than all other elements of the transport box. This is in Fig. 3d clarified.
  • Fig.3 shows in Fig. 3a, Fig. 3b, Fig. 3c and Fig. 3d four different states of the transport box 20 and the (sub-) watercraft 22.
  • the transport box 20 hangs in the air on the traction device of the base station.
  • the traction device remains continuously connected to the transport box 20 so that the transport box can be lifted back into or onto the base station after the mission has been completed in order to be equipped with a new watercraft.
  • the watercraft 22 is primarily designed to carry out only one mission so that there is no need for the watercraft 22 to dock back onto the transport box. For example, if a sea mine is destroyed, the watercraft 22 itself is also destroyed.
  • Fig. 3b shows the transport box 20 submerged in the water.
  • the frame 26 has rotated around the axis of rotation of the hinges 30 by approximately 180°, for example due to the effect of the buoyancy element 34.
  • the orientation of the watercraft 22 has also been reversed due to the rotation of the frame 26. If the watercraft 22 was still upside down in the air, it is now positioned the right way up in the water.
  • the sensor head 36' is also now deeper in the water than the frame itself due to the rotation of the frame 26.
  • Fig. 3c shows the setting down of the watercraft 22 in the water.
  • the fixing element in particular the quick release, has been released (remotely controlled) and the watercraft 22 sinks downwards, either due to negative trim or due to active propulsion.
  • the dispenser 46 begins to rotate. The rotation can be initiated by an initial pull of the watercraft on the signal line. The initial pull can release a slight tension between the dispenser and the frame, thereby enabling the rotation.
  • Fig. 3d shows the beginning of the mission of the watercraft 22.
  • the watercraft 22 is driven and steered to its target position.
  • the outlet 46' of the dispenser 46 now extends deeper into the water than all other elements of the transport box 20.
  • Fig.4 shows a system 50 with the transport box 20 and a loading device 52 for loading the transport box 20 with a watercraft 22.
  • Fig. 4a, Fig. 4b and Fig. 4c show the loading of the transport box 20 with the watercraft 22 in three steps.
  • Fig. 4a The transport box 20 and the loading device 52 are arranged in a predetermined position relative to one another.
  • the holder 24 of the transport box is folded down to expose the opening of the transport box, ie the frame.
  • the watercraft 22 is received, in particular fixed, in the loading device 52 in such a way that the holding device with which the watercraft can be fixed in the frame of the transport box is arranged in an exposed manner.
  • the loading device 52 now has a tilting device 56, which can tilt the watercraft into the transport box in such a way that the holding device 38 of the watercraft enters a fixing area of a fixing element and is automatically fixed in the frame by the fixing element.
  • the tilting device is advantageously designed so that the tipping process can be interrupted at any time and the watercraft is held securely by the tilting device in any intermediate position. This can be done, for example, by means of a hydraulic cylinder or a spindle (not shown).
  • the end position of the tipping process is in Fig. 4b
  • the tilting device 56 is tilted by 90°, for example, and the predetermined position relative to one another means that the holding device 38 of the watercraft 20 and the corresponding fixing element, in particular the quick-release fastener, of the transport box engage precisely with one another.
  • the watercraft is fixed both in the transport box and on the loading device 52.
  • the means 54 for fixing the watercraft on the loading device 52 can now be released and the tilting device 56 pivots back into its starting position. This state is in Fig. 4c shown.
  • the bracket 24 can be connected to the traction device and lowered into the water.
  • the loading device 52 also contains the dispenser and the associated signal line in addition to the watercraft 22.
  • the dispenser is detached from the loading device at a suitable time before, during or after the tipping process (e.g. manually) and attached to the transport box by means of the holder without having to disconnect the pre-assembled signal line.
  • the loading device 52 is only selected as an example.
  • a shelving system can also be installed in the base station.
  • the watercraft can be fixed on a corresponding tilting device.
  • the tilting device is designed individually for the various models in order to be able to overcome different heights and/or distances from which the watercraft is tilted into the transport box. Tilting levers of different lengths and curved angles of rotation can be used to make the most of the space in the helicopter or another base station to make optimal use of it.
  • the tilting device can also turn the watercraft at an angle other than the 90° shown in order to bring the watercraft into the fixing area of the transport box.
  • Fig.5 shows another system 58 comprising the transport box 20, here in the state according to Fig. 3c shown, and a base station 60.
  • the transport box 20 is (mechanically) connected to the base station 60 by means of a traction device 62, here a rope, and is already below the water surface 64.
  • the transport box has a float 66 which is movably arranged on the traction device. Thus, the float is always on the water surface as soon as the transport box 20 is in the water.
  • the float 66 has an antenna (not shown) which is designed to receive a signal from an operating unit from the base station and to forward it to a computing unit of the transport box or to send a signal from the computing unit to the base station in the opposite direction.
  • the float 66 rests on the holder 24.
  • the eyelet 24' is shaped in such a way that a stable storage position is obtained for the float 66.
  • the float is typically connected to the computing unit of the transport box with a cable (not shown).
  • Fig.6 shows a schematic block diagram of possible signal flows for controlling the transport box in exemplary embodiments.
  • An operating unit 72 is arranged in the base station 60.
  • the transport box can be controlled by means of the operating unit 72.
  • Signals from the operating unit to the transport box (and vice versa) can be transmitted via a signal connection 74 to a data processing unit 82 of the computing unit 32 of the transport box 20.
  • Signals include both (useful) data and control signals. In principle, this is possible using a wired signal connection.
  • a wireless signal connection 74 is shown, for example using WLAN or any other suitable radio standard.
  • the signal does not penetrate deep enough into the water to be able to send the signals directly to the data processing unit 82 or an antenna arranged on the transport box.
  • a float 66 with an antenna is arranged to receive the signal from the control unit (or to send it to the control unit). Between There is a first signal connection 80 between antenna 66 and data processing unit 82.
  • the first signal connection 80 is typically wired and therefore extends from the float 66 to the transport box.
  • the data processing unit 82 processes the data generated by the transport box 20.
  • the sensor head 36' of the direction finding system can also have a (second) signal connection 84 to the data processing unit 82.
  • the sensor head 36' sends, for example, the position of the watercraft 22 to the data processing unit 82.
  • the data processing unit can also transmit the trigger, i.e. the predetermined point in time at which the watercraft 82 sends out its acoustic signal (ping), to the sensor head so that it listens to the acoustic signal.
  • the sensor head 36' can be switched to active mode or listening mode. Otherwise, the sensor head can be switched to passive mode so that energy consumption is minimized.
  • the data processing unit 82 can have a (third) signal connection to an actuator control 88.
  • the actuator control 88 can, by means of a (fourth) signal connection 90, control the fixing element 92, in particular the quick-release fastener, i.e. preferably open it in order to lower the watercraft 22 into the water.
  • the signal for opening the fixing element can be sent by the control unit 72.
  • the fixing element 92 can report successful opening via the fourth signal connection 90.
  • the computing unit 32 can have an interface 94 to the watercraft 22.
  • the interface 94 can be connected to the data processing unit 82 by means of a fifth signal connection 96.
  • the interface is also connected to the dispenser 46 for the signal line 44 by means of a sixth signal connection 98.
  • the signal line 44 is in turn connected to the watercraft 22.
  • the data processing unit 82 can send signals to the watercraft 22 and receive them from it, for example to control the same, the transmission of the acoustic signal (ping) to request, receive any video and/or photo data from the vessel, etc.
  • the computing unit also has a power distribution 100 to supply the individual electrical components of the transport box 20, such as the computing unit 32, the sensor head 36', the fixing element 92, etc. with energy.
  • the energy can come from a replaceable and/or rechargeable battery 102, which is connected to the power distribution 100 by means of an electrical contact 104.
  • aspects have been described in connection with a device, it is understood that these aspects also represent a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Analogously, aspects that have been described in connection with or as a method step also represent a description of a corresponding block or details or feature of a corresponding device.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ship Loading And Unloading (AREA)
  • Aviation & Aerospace Engineering (AREA)

Claims (11)

  1. Boîte de transport (20) pour la mise à l'eau d'une embarcation (22) à l'aide d'un moyen de traction (62), présentant les caractéristiques suivantes :
    un support (24) pour la fixation du moyen de traction (62) pour abaisser la boîte de transport (20) ; et
    un cadre (26) qui est conçu pour recevoir l'embarcation (22) dans la boîte de transport (20),
    caractérisé en ce que la boîte de transport (20) est conçue pour recevoir l'embarcation (22) sur le dessus et la déposer dans l'eau sur le dessous ;
    la boîte de transport (20) étant conçue pour recevoir l'embarcation (22) dans une première orientation et pour déposer l'embarcation (22) dans l'eau dans une deuxième orientation ; et
    le cadre (26) étant mobile par rapport au support (24) afin de recevoir l'embarcation (22) par le haut et de la déposer dans l'eau par le bas.
  2. Boîte de transport (20) selon l'une quelconque des revendications précédentes,
    dans lequel le cadre (26) est relié au support (24) au moyen d'une charnière (30), de sorte que le cadre (26) peut être mis en rotation autour d'un axe de rotation de la charnière (30) pour recevoir l'embarcation (22) par le dessus et la déverser dans l'eau par le dessous.
  3. Boîte de transport (20) selon l'une quelconque des revendications précédentes,
    dans lequel le cadre (26) comporte un élément de flottabilité (34) présentant une densité inférieure à celle de l'eau, de sorte que le cadre (26) occupe une première position dans l'air par rapport au support (24) et une deuxième position dans l'eau par rapport au support (24) pour recevoir l'embarcation (22) par le dessus et la libérer dans l'eau par le dessous.
  4. Boîte de transport (20) selon l'une quelconque des revendications précédentes,
    dans lequel la boîte de transport (20) présente l'absence de connexion électrique filaire à une unité de commande (72) lorsque la boîte de transport (20) est descendue dans l'eau.
  5. Boîte de transport (20) selon l'une quelconque des revendications précédentes,
    dans lequel l'embarcation (22) comprend un véhicule sous-marin,
    dans lequel la boîte de transport (20) comprend un système de relèvement (36) configuré pour déterminer une position actuelle du véhicule sous-marin ;
    dans lequel la boîte de transport (20) comprend une unité de calcul (32) qui est adaptée pour commander le véhicule sous-marin vers une position cible sur la base de la position actuelle du véhicule sous-marin.
  6. Boîte de transport (20) selon l'une quelconque des revendications précédentes,
    dans lequel le véhicule aquatique (22) comprend un véhicule sous-marin,
    dans lequel la boîte de transport (20) comprend un système de relèvement (36) configuré pour déterminer une position actuelle du véhicule sous-marin ;
    l'installation de repérage (36) est disposée dans la boîte de transport (20) de telle sorte qu'une tête de capteur (36') de l'installation de repérage (36) est disposée entre le cadre (26) et le support (24) pendant la descente de la boîte de transport (20) dans l'eau et la tête de capteur de l'installation de repérage (36) est disposée dans l'eau en dessous du cadre (26) et du support (24).
  7. Boîte de transport (20) selon l'une quelconque des revendications précédentes,
    comprenant un logement (48) pour un distributeur (46) d'une ligne de signalisation (44) de l'embarcation, le logement (48) coopérant avec le distributeur (46) de telle sorte que le distributeur (46) est disposé entre le cadre (26) et le support (24) pendant la descente de la boîte de transport (20) dans l'eau et qu'une sortie du distributeur, après la descente de l'embarcation dans l'eau, s'étend plus profondément dans l'eau que tous les autres éléments de la boîte de transport.
  8. Boîte de transport (20) selon l'une quelconque des revendications précédentes,
    dans lequel le cadre (26) comporte une fermeture rapide configurée pour recevoir et fixer automatiquement un dispositif de retenue relié à l'embarcation (22), la fermeture rapide étant configurée pour libérer la fixation lorsque la fermeture rapide reçoit un signal correspondant.
  9. Boîte de transport (20) selon l'une quelconque des revendications précédentes,
    comprenant un flotteur (66) présentant une antenne configurée pour recevoir un signal d'une unité de commande (72) et le transmettre à une unité de calcul (32) de la boîte de transport (20) ou pour envoyer un signal de l'unité de calcul à l'unité de commande, le flotteur (66) étant configuré pour être disposé de manière mobile sur le moyen de traction (62).
  10. Système (50) comprenant la boîte de transport (20) pour la mise à l'eau d'une embarcation (22) à l'aide d'un moyen de traction selon l'une des revendications précédentes et un dispositif de chargement pour charger la boîte de transport (20) avec l'embarcation (22),
    le dispositif de chargement étant conçu pour recevoir l'embarcation (22) de telle sorte qu'un dispositif de retenue, avec lequel l'embarcation (22) peut être fixée dans le cadre (26) de la boîte de transport (20), est disposé de manière dégagée ;
    le dispositif de chargement présentant un dispositif de basculement (56) qui est conçu pour faire basculer l'embarcation (22) dans la boîte de transport (20) de telle sorte que le dispositif de retenue de l'embarcation entre dans une zone de fixation d'un élément de fixation et peut être fixé par l'élément de fixation dans le cadre (26).
  11. Procédé de mise à l'eau d'une embarcation au moyen d'une boîte de transport (20), comprenant les étapes suivantes :
    - Introduction de l'embarcation (22) par le haut dans la boîte de transport ;
    - Prise en charge de l'embarcation dans la boîte de transport ;
    - Fixation d'un moyen de traction à la boîte de transport ;
    - Abaissement de la boîte de transport (20) dans l'eau ;
    - Dépose par le dessous de l'embarcation hors de la boîte de transport (20) dans l'eau.
EP21736544.4A 2020-07-02 2021-06-21 Boîte de transport pour la mise à l'eau d'une embarcation Active EP4100312B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020208327.4A DE102020208327A1 (de) 2020-07-02 2020-07-02 Transportbox zum Absetzen eines Wasserfahrzeugs
PCT/EP2021/066810 WO2022002664A1 (fr) 2020-07-02 2021-06-21 Boîte de transport pour la mise en place d'une embarcation

Publications (2)

Publication Number Publication Date
EP4100312A1 EP4100312A1 (fr) 2022-12-14
EP4100312B1 true EP4100312B1 (fr) 2024-06-19

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EP21736544.4A Active EP4100312B1 (fr) 2020-07-02 2021-06-21 Boîte de transport pour la mise à l'eau d'une embarcation

Country Status (5)

Country Link
US (1) US20230234677A1 (fr)
EP (1) EP4100312B1 (fr)
KR (1) KR20230038495A (fr)
DE (1) DE102020208327A1 (fr)
WO (1) WO2022002664A1 (fr)

Citations (2)

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EP2468620B1 (fr) * 2010-12-23 2017-03-15 Eca Dispositif de mise à l'eau et de récupération d'un engin marin, et procédé de mise à l'eau et de récupération associé
KR102034172B1 (ko) * 2019-02-27 2019-10-18 한화시스템 주식회사 수중 운동체 진수장치

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JPS51102900A (ja) * 1975-03-06 1976-09-10 Mitsubishi Heavy Ind Ltd Sensuisenyoshusochi
US4312287A (en) 1977-09-30 1982-01-26 The University Of Strathclyde Apparatus for handling submersibles at sea
IT1311837B1 (it) * 1999-05-19 2002-03-19 Studio 3 Ingegneria Srl Dispositivo di attracco per veicoli autonomi sottomarini semoventi
FR2823485B1 (fr) * 2001-04-13 2003-08-01 Eca Dispositif de mise a l'eau et de recuperation d'un vehicule sous-marin et procede de mise en oeuvre
DE102005058475B3 (de) 2005-12-07 2007-01-04 Atlas Elektronik Gmbh Gerät zum Ausbringen und Tracken eines unbemannten Unterwasserfahrzeugs
US8430049B1 (en) 2009-07-13 2013-04-30 Vehicle Control Technologies, Inc. Launch and recovery systems and methods
GB201518297D0 (en) 2015-10-16 2015-12-02 Autonomous Robotics Ltd Deployment and retrival methods for AUVs

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
EP2468620B1 (fr) * 2010-12-23 2017-03-15 Eca Dispositif de mise à l'eau et de récupération d'un engin marin, et procédé de mise à l'eau et de récupération associé
KR102034172B1 (ko) * 2019-02-27 2019-10-18 한화시스템 주식회사 수중 운동체 진수장치

Also Published As

Publication number Publication date
EP4100312A1 (fr) 2022-12-14
US20230234677A1 (en) 2023-07-27
DE102020208327A1 (de) 2022-01-05
WO2022002664A1 (fr) 2022-01-06
KR20230038495A (ko) 2023-03-20

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