WO2012065875A1

WO2012065875A1 - Underwater vehicle for uncovering submerged objects and underwater system with an underwater vehicle of this type

Info

Publication number: WO2012065875A1
Application number: PCT/EP2011/069575
Authority: WO
Inventors: Sven-Christian Hesse; Jörg Kalwa; Ralf Richter
Original assignee: Atlas Elektronik Gmbh
Priority date: 2010-11-15
Filing date: 2011-11-07
Publication date: 2012-05-24
Also published as: US20130239869A1; EP2640903A1; DE112011103770A5; EP2640903B1; DE102010051491A1

Abstract

The invention relates to a remote-controllable underwater vehicle (1) with a device for uncovering submerged objects, and to an underwater system with an underwater vehicle (1) of this type. In order to permit cost-effective and safe removal of objects, to which access is difficult, from the bottom of a body of water, in particular weapons to which access is difficult, according to the invention the device for uncovering submerged objects comprises a working nozzle (8) which guides a stream of water, and a counterpressure nozzle (17) acting counter to the working nozzle (8).

Description

UNDERWATER VEHICLE FOR THE DISPOSAL OF IMMERSED OBJECTS AND UNDERWATER SYSTEM WITH SUCH A UNDERWATER VEHICLE

The invention relates to a remotely controllable underwater vehicle according to claim 1 and an underwater system comprising such an underwater vehicle and a system platform according to the preamble of claim 12.

At the bottom of bodies of water lie a multitude of objects with an interest in finding them and either recovering or clearing them. In particular, munitions such as mines or sunken ammunition pose a potential hazard to shipping and the environment. There is therefore a need for efficient, inexpensive and safe clearance of such ordnance. Underwater vehicles, mostly unmanned underwater vehicles, are regularly used to detect and identify objects on the one hand and on the other hand also for salvaging or evacuation. The use of unmanned underwater vehicles allows for a missions in depths, which are no longer accessible for divers. On the other hand, the dangers for divers are no longer justifiable, especially during missions in connection with ordnance clearance.

It has been shown that often objects at the bottom of a body of water, which are either salvaged or evacuated in the case of ordnance, are so difficult to access that known underwater systems can no longer ensure recovery or evacuation. The use of divers under these difficult conditions should, however, be avoided as far as possible due to the increased risks.

US 2002 0129 694 A1 discloses a device for demining at the seabed with a water-plow, which is arranged with movable arms at the bow of a surface vessel and is lowered by lowering the movable arms in its working position on the seabed. The water plow contains a channel in which water is taken from the vicinity of the water plow and discharged in front of the surface vehicle downwards towards the seabed. The water jet of the water plow should be out remove any buried explosives or other obstructions buried in a surface of the surface vehicle.

US 7 363 844 B2 discloses a remote-controlled underwater system for salvaging explosive devices, wherein a remotely controllable gripping tool for salvaging the ammunition is parked on the seabed. The gripping tool is connected via a signal cable with a transmitting / receiving device, which floats on the water surface and is connected by radio to a base station.

Furthermore, underwater vehicles with facilities for exposing sunken objects are known, which are not suitable for the safe removal of ordnance.

US 3,354,658 discloses an underwater vehicle having a torpedo-like shape which is remotely controllable via a cable and supplied with compressed air via a compressed air line. The known underwater vehicle has a magnetic head with which it can be fastened to the ship's side of a shipwreck, wherein a hole is blown into the ship's wall by means of an explosive charge in order subsequently to pump air through the ship's wall. To the compressed air line, an adapter can be included, which can suck by means of compressed air via a flexible tube loose material from the decks of a shipwreck or from the seabed. With another adapter, compressed air can be discharged from the compressed air line via a nozzle.

US 7 765 725 B2 discloses a device for removing the excavation from a well by means of an ejector, a pump and a suction tube to be inserted into the well. The pump is part of a remotely controlled submersible and is connected to the ejector to remove excavation.

In the article Marschner, Heinz and Marsland, GE "DAVID, A new underwater working equipment for free divers", marine technology mt Volume 13 (1982) No. 2, pp. 31 to p. 35, a Tauchershilfsfahrzeug is described, which with a gripper can be fixed at the work of a diver and the diver a working platform and underwater tools, such as water jet cleaning systems or ejector provides. From DE 346 857 A a manned underwater vehicle with tools to be handled from the inside is known, which can be moved by means of caterpillar tracks. The known underwater vehicle is equipped for dredging purposes with a suction pump and subsequent articulated excavator or suction pipes.

WO 01/32503 A2 discloses a device for the removal of rocks and sediments in the underwater area, which is attached outside a remote-controlled underwater vehicle (ROV) to the underwater vehicle. The known device comprises a suction line, through which sediments are transported, and an ejector nozzle acting on the suction line, to which a water pump is connected and which produces a suction pressure at the working end of the suction line.

Other underwater vehicles or underwater tools are known from US 6 928 947 B1, JP 2006 224 863A, US 2003 0167 998 A1, GB 169 421, AT 168 300, DE 944 708 B, DE 2 163 727 A, DE 699 1 1 884 T2 and US 4 010 619.

JP 62008895A discloses a radio-controlled underwater robot with a handling device designed as a gripping arm. The underwater robot is connected via cable connection to a radio buoy, which is connected to a base station aboard a ship by radio.

WO 91/13800 discloses an underwater exploration system comprising two identical submersibles and one surface vessel, each of which is used for underwater exploration and submerged while the other submersible is on the surface of the water and maintains radio contact with the base station aboard an overwater vessel , The two underwater vehicles communicate with each other, so that ultimately communication with the submerged submarine vehicle is possible via the radio link to the underwater vehicle floating on the surface.

The invention is the problem of creating a remotely controllable underwater vehicle and an underwater system, which allow a cost-effective and safe removal of hard to reach objects, in particular of ordnance, from the bottom of a body of water after all. This problem is solved according to the invention with an underwater vehicle with the features of claim 1 and an underwater system with the features of claim 12.

The invention is based on the finding that the difficult accessibility of objects on the bottom of bodies of water is often the result of sediment deposits on the object or the object has sunken so long after an often decades-long dwell time on the riverbed that conventional underwater vehicles salvage or Can no longer carry out eviction. The invention has recognized that in most cases a salvage or clearance would be possible if the sediment could be removed in the vicinity of the sunken object and thus the sunken object can be exposed so far that it can then be recovered or cleared. The underwater vehicle according to the invention, with its device for exposing sunken objects, can in most cases remove so much sediment, sand or smaller objects that the object is gently exposed for subsequent salvage or evacuation. The device for exposing sunken objects comprises one or more tools to act on the sediment.

The underwater vehicle has a device for exposing sunken objects by means of a water flow, which comprises a working nozzle leading to the water flow. With the water flow, sediments, which enclosing the object to be cleared, can be extracted gently and without contact.

The exposure of the sunken objects by means of a water flow can be done both by rinsing and by sucking the sediments in the environment of the sunken object, for example, a mine. In a rinse-type device, the water flow is directed to the object to be cleared via the working nozzle, thereby flushing away the sediments. In a suction device water and thus the sediment is sucked from the environment of the object to be exposed and via a suction line, for example. A hose, discharged.

In order to compensate for the forces generated by the water flow at the working nozzle during the mission, in particular to compensate partially or completely, a counter-pressure nozzle counteracting the working nozzle is provided. In the backpressure nozzle, as in the working nozzle, a water flow is generated, but in the opposite direction. set flow direction. The flow of water through the countercurrent nozzle generates impulse forces, which counteract the impulse forces occurring at the working nozzle, so that acting on the underwater vehicle a smaller magnitude resulting force than without compensation by the back pressure nozzle. Thereby, the underwater vehicle can be stably maintained in its working position at the bottom of the water, so that unwanted approaches of the underwater vehicle is counteracted to the object to be exposed. Especially in hazardous work on objects with explosives, the risk of spontaneous detonation is therefore reduced.

The arrangement of a back pressure nozzle is particularly advantageous in a rinsing operation of the working nozzle to at least partially compensate for the impulses acting on the working nozzle due to the impact of the flow of water on the object to be exposed or its environment and compensate as completely as possible.

The underwater vehicle can be remotely controlled via wireless communication means, for example via sound or (in the case of short transmission links) by radio or similar means, and / or via a connecting cable. In general, a human operator from a control center of a system platform before control commands for the underwater vehicle. The underwater vehicle is approached with appropriate remote control of his drive or maneuvering to the object to be cleared. The control commands transmitted control the operating equipment of the underwater vehicle, for example the devices for navigation, for controlling the drive and for maneuvering the underwater vehicle. The control commands also remotely control the exposure of the object via the positioning of the working nozzle. In addition, the underwater vehicle transmits measurement data via the communication with the system platform, so that the operator is enabled to control the underwater vehicle in real time.

An underwater vehicle is to be understood as any mobile means which is suitable for transporting the device for exposing sunken objects by means of a water flow and the working nozzle in the underwater space. This can be an underwater vehicle which can be moved in three-dimensional space, but also any type of underwater vehicle which is movable on the bottom of the water body, for example by means of a chain or wheel train or in any other way. Alternatively or in addition to the working nozzle, the device for exposing sunk objects one or more, in particular rotatably drivable, tools such as brushes and the like. On. With tools such as brushes outside sediments and deposits of the object to be exposed can be removed and thus further operations are greatly facilitated. The tools are advantageously designed and arranged such that, in their operation, the lowest possible recoil forces or moments act on the underwater vehicle. This results in lower recoil forces than in a flushing device by means of water flow. By an advantageous arrangement of the tools, the impulses acting on the underwater vehicle are reduced, so that little energy is required for correction maneuvers of the underwater vehicle to maintain its position. Advantageously, a plurality of rotatable tools such as brushes are arranged such that the respective forces generated compensate, for example, by opposite directions of rotation.

In a preferred embodiment, the underwater vehicle is trimmed buoyancy neutral and has such trained and arranged Manövriereinrichtungen that the underwater vehicle in the directions of its spatial axes, namely the longitudinal axis, the transverse axis and the vertical axis, and in the direction of rotation about at least one of the spatial axes is controllable. The maneuvering devices are coordinated in such a way that precise maneuvers in any direction are possible. The underwater vehicle can float through the neutral trimming in the field and is precisely maneuverable to allow for positional corrections even in dangerous missions such as mine work and to precisely track the tool for exposing the sunk object, especially the working nozzle, to the contour of the underwater object to be excavated.

The underwater vehicle advantageously has means for adjusting the trim. As a result, a neutral trim can be set at any time and the levitation of the vehicle can be maintained even with changes in the underwater environment, for example in the case of currents or thermal or chemical changes. The trim means and the maneuvering devices are used in a coordinated manner to ensure that the underwater vehicle is hovering with as little energy as possible.

Advantageously, the maneuvering devices of the remotely controllable underwater vehicle are arranged and matched to one another such that movements in directions of rotation about several or all spatial axes of the underwater vehicle are possible. Maneuverability of the underwater vehicle with yaw movement (rotation about the vertical axis) and with ramming (rotation about the transverse axis) proved to be particularly advantageous. The underwater vehicle maneuvering devices are remotely controllable to perform the intended underwater vehicle maneuver. Likewise, the maneuvering devices allow dynamic corrective measures to stabilize the underwater vehicle in the desired working position via coordinated control of the maneuvering devices.

The maneuvering devices of the underwater vehicle are formed by a rear-wheel drive and at least one side thrust drive, which is arranged in the region of the bow of the underwater vehicle. Preferably, side thrust drives are arranged in pairs, each with different effective directions. In a preferred embodiment of the guided underwater vehicle, two or more pairs of side thrusters are spaced apart longitudinally of the underwater vehicle to ensure precise maneuvers of the underwater vehicle exclusively in the intended directions.

The device for exposing sunken objects by means of a water flow comprises a pumping unit acting on the working nozzle and the backpressure nozzle, wherein the working nozzle in a rinsing operation directs the water flow onto the object to be cleared away and sediments wash away. Alternatively, the device for exposing sunken objects by means of a water flow is designed as a suction device. The working nozzle is connected to the suction side of the pump unit. By sucking off the sediments from the area of the sunk object, obstructions in the working area are counteracted by swirling sediment. As a result, optimal visibility in the working area of the working nozzle can be created. At the working nozzle, a spacer is advantageously arranged, which prevents the suction nozzle of the working nozzle at the object to be exposed during the suction of sediment.

In dealing with sunken ordnance, a flushing operation is advantageous to avoid that explosive substances are sucked in and thus the mission is endangered. For working under optimal visibility, however, the suction operation is advantageous. In order to avoid aspiration of explosive substances, the device for exposing sunk objects in an advantageous embodiment is equipped with an explosives detector. An explosive detector designed in particular as an underwater explosive sniffer is capable of detecting the presence of explosives in its surroundings. In the case of Detecting explosive substances, a signal of the explosives detector is used to reduce the suction power or to stop the suction operation. The explosives detector and an evaluation device connected to the explosives detector on board the underwater vehicle make it possible to detect any danger to the underwater vehicle which could originate from the object being tracked. An intervention in the current suction operation due to detection of dangers can be performed autonomously by the underwater vehicle or by remote control.

In an advantageous embodiment, the device for exposing sunk objects by means of a water flow with respect to. The working direction of the water flow is switchable and operable depending on the setting of the working direction in a suction or a rinsing operation. In the rinse mode, the environment of the sunken object can be exposed at high power. The pump unit is particularly advantageous in its performance adjustable, the power is controlled or regulated on the basis of sensor measurements or adjusted manually. In this case, for example, the pressure in the working nozzle can be used as a control or controlled variable.

The adjustability of the power of the pump unit is advantageous in a combination of working nozzle and additional rotary tools such as brushes and the like. In this case, the pump power can be adjusted according to the current effectiveness of the other tools. To adapt the pump power to the effectiveness of the brushes, a motion sensor or other measuring devices is advantageously provided on the underwater vehicle or its manipulation device.

The underwater vehicle advantageously has one or more devices for detecting its surroundings, whose measurements or recordings of a human operator can be displayed, so that a remote control of the exposure of the sunken object under real-time conditions is possible. The underwater vehicle comprises, for example, a sonar device and / or a camera as a device for detecting its surroundings. With a camera, which is aligned with the work area of the working nozzle, the working area of the working nozzle can be detected and the working nozzle can be controlled efficiently. A sonar allows safe navigation when approaching the object and also allows detection of the working area of the working nozzle in poor optical conditions, such as cloudy water. Acoustic signals from individual position determinations can be evaluated in order to detect the underwater vehicle To guide object (acoustic tracking). For this purpose, the underwater vehicle on an acoustic signal, such as a pinger, on. However, such an acoustic signal transmitter can also be arranged away from the underwater vehicle in order to locate the object to be cleared and to guide the underwater vehicle. It is also possible to arrange such an acoustic signal generator on the object to be exposed in order to track the underwater vehicle.

The operator controls the underwater vehicle via the available drives taking into account sonar and / or camera to the object to be exposed and then controls the exposure of the object by means of the working nozzle.

In order to ensure a fixation of the underwater vehicle on or in the area of the object to be exposed in the case of sensitive or dangerous work, such as, for example, in the clearance of ordnance, the underwater vehicle comprises an anchoring device. The anchoring device offers a further possibility for stabilizing the working position of the underwater vehicle in addition to dynamic intervention via control of the maneuvering drives of the underwater vehicle. The underwater vehicle can thus be kept stable in its working position by means of on-board equipment, namely via the anchoring device, by controlled drive pulses of its drives or a combination of the means.

The anchoring device advantageously comprises an anchor with a plurality of anchor tines in the manner of a harrow, which gives a secure hold for the excavation work in most possible ground conditions. The anchor is dropped from the anchoring device, for example, to a corresponding control command of the operator of the underwater vehicle.

In a further embodiment, the anchoring device comprises an electromagnet and / or a vacuum device in order to fix the underwater vehicle when exposing the sunken object to the object itself or to an object in its surroundings. The anchoring device may also have a clamping device for clasping the object to be exposed or its parts and / or objects in the surroundings of the object or underwater vehicle.

In a further advantageous embodiment of the underwater vehicle, a nail-shooting device is provided as an anchoring device with which the underwater vehicle via to be delivered nails or bolts is attached. The nails are delivered via an ignition device in the nail gun and fasten the underwater vehicle, for example via ropes on the bottom of the water. However, the fastening nails can also be driven into the object to be cleared or into any other suitable object in the vicinity of the object to be excavated or underwater vehicle in order to fix the underwater vehicle directly or via ropes.

In a particularly preferred embodiment of the invention, the underwater vehicle on a controllable manipulation device, which carries the working nozzle. In this way, the working nozzle via the manipulation device, for example. A robot arm, are positioned particularly precisely in the environment of the object to be exposed. In addition, the working position of the working nozzle can be changed without requiring energy-intensive underwater vehicle maneuvers.

In an advantageous embodiment of an underwater vehicle intended for disposal of ordnance, the underwater vehicle carries an explosive charge for the clearance of explosive ordnance. In this way can be dispensed with the forwarding of another, equipped for ordnance clearance underwater vehicle. In contrast to conventional underwater vehicles with explosive charges for ordnance clearance can be significantly increased with the underwater vehicle according to the invention, which additionally has a device for exposing sunken objects, the effectiveness of the eviction. With every sinking weapon, for example, a sunken base mine, the explosive charge can be placed in an optimal position after exposing the base mine, so that an evacuation of the mine is ensured in any case.

In an advantageous embodiment, the underwater vehicle carries one or more explosive charges with directivity, in particular shaped charges. The use of shaped charges increases the efficiency of the explosive charge used and helps to minimize the amount of explosives to be transported aboard the mothership. This promotes the safety of transport and storage of the underwater vehicle (s) aboard the mothership.

The hollow charge can be optimally placed on the object to be cleared when the underwater vehicle is fixed by its anchoring device. To illuminate the working area of the working nozzle headlamps are provided on the underwater vehicle, wherein in an advantageous embodiment, the underwater vehicle comprises two or more spaced-apart and aligned on the working area of the working nozzle headlights. In this way, the working area is illuminated without shadows, so that the environment of the object to be exposed and in particular its surface can be reliably identified.

In a further advantageous embodiment of a suction device for exposing sunken objects the suction device comprises a connected to the working nozzle suction hose, which is led away from the working area of the working nozzle of the underwater vehicle and has such a length to an outlet of the water flow, that no emerging at the outlet particle load in the working area of the working nozzle returns and affects the visibility there. The dimensioning of the length of the suction hose is carried out taking into account the suction and possibly the flow conditions at the site. In an arrangement of the working nozzle in the bow region of the underwater vehicle, the extracted sediment emulsion is preferably discharged in the direction of the stern and positioned the outlet of the suction line accordingly.

A distance of the outlet of the water flow from the working area of the working nozzle with the appropriate length of the suction hose is ensured if the outlet of the suction hose is fixed away from the underwater vehicle at the bottom of the water body. Such a fixation of the suction hose at the bottom of the body of water can be achieved in a simple manner by connecting the outlet of the suction hose to a weight which can be deposited by the underwater vehicle. Alternatively, a pump unit with the suction hose can be released from a corresponding holding device on the underwater vehicle and parked on the bottom of the water. The outlet of the water flow is preferably on the side opposite the working area of the working nozzle side of the underwater vehicle, so that the least possible obstruction of visibility in the work area can occur by fluidized sediments.

A human operator controls the underwater vehicle from a system platform which is signal transmitting connected to the underwater vehicle. The system platform can be a ship or an underwater vehicle. However, the system platform can also be formed localized. The underwater system according to the invention comprises, in addition to a system platform and the underwater vehicle with the device for Exposing sunk objects in addition a mediator vehicle with which the underwater vehicle is connected signal transmitting, for example via a connecting cable. To connect wireless communication means can also be provided. The wireless communication can be done by sound or radio, especially for short distances between the median vehicle and the underwater vehicle to be controlled. In an advantageous embodiment, the underwater vehicle is optionally remotely controllable via a connecting cable or wireless communication means.

The intermediary vehicle is in turn connected to the system platform signal transmitting, in particular by radio link. The use of an intermediary vehicle increases the range of the underwater vehicle intended to expose sunk objects and / or provides more energy for extended mission times. The intermediary vehicle is advantageously a vehicle capable of flooding on the surface, so that wireless communication by sound or radio between the intermediary vehicle and the system platform is ensured even over greater distances.

The invention uses the mediator vehicle as a relay station, wherein the mediator vehicle transmits information from the underwater vehicle and for the underwater vehicle from the optionally distant mother ship by radio transmission. While the underwater vehicle is controlled to expose sunken objects via the mid-vehicle over a short distance via an appropriate communication means, the radio link between the mothership and the mid-vehicle enables long distance communication such that long reaches of the underwater system are achieved from the location of the system platform. Due to the large distance of the mother ship from the place of use of the underwater vehicle, the mother ship or its crew is also protected from the effects of detonations when dealing with explosives on the riverbed. The short distance between mid-vehicle and underwater vehicle enables optimal communication on wireless communication channels, for example by sound or by radio.

A trouble-free communication between the mid-vehicle and the underwater vehicle is ensured by a connecting cable. For efficient communication with the underwater vehicle for exposing sunken objects and working under real-time conditions, the connection cable advantageously comprises a fiber optic cable. The mediator vehicle is also used to transport the underwater vehicle to expose sunken objects to the deployment site. In doing so, the mid-range vehicle is steered close to the place of deployment, so that the underwater vehicle requires less energy for its mission. The on-board power supply of the underwater vehicle can thus be small and therefore cost-effective dimensioned. Preferably, powerful lithium polymer batteries are arranged on board the radio-controlled underwater vehicle.

The mediator vehicle may be a surface vessel that floats on the surface of the water and is in radio communication with the system platform. But it is also possible to use an unmanned underwater vehicle as a mediator, in particular an autonomous underwater vehicle (AUV). The mediator vehicle can be used as a transfer vehicle, which brings the underwater vehicle to expose sunken objects to the place of use and communicates with the mothership via the connection cable. Once the midship vehicle has deployed the underwater vehicle to expose sunk objects in the field of application, the mediator vehicle moves away from the deployment site and can return to the surface of the water to receive radio communication with the system platform.

In an alternative embodiment, the intermediary vehicle controls the underwater vehicle wirelessly. It is therefore possible to use a self-operating underwater vehicle for controlling the underwater vehicle with the device for exposing sunken objects.

In a further advantageous embodiment of the underwater system according to the invention, the connection cable between the intermediary vehicle and the underwater vehicle for exposing sunk objects in addition to the fiber optic signal line also comprises a power line. In this case, the intermediary vehicle carries an energy source, for example a generator or a battery with a correspondingly large capacity, for supplying the underwater vehicle for exposing sunken objects via the connection cable. In this way, the underwater vehicle over a longer mission period can also be used in missions with increased energy requirements, for example, to expose multiple objects.

Further advantageous embodiments will become apparent from the subclaims and from the embodiments, which are explained below with reference to the drawing. Show it: 1 is a side view of a remotely controllable underwater vehicle with a device for exposing sunken objects,

Fig. 2 shows a first embodiment of an underwater system with an underwater vehicle for exposing sunken objects and

Fig. 3 shows another embodiment of an underwater system with an underwater vehicle for exposing sunken objects.

1 shows the side view of an underwater vehicle 1, which can be controlled remotely via a connection cable 2 from a system platform, in particular by a human operator in a control station of the system platform. The underwater vehicle has a device explained in more detail below for exposing sunken objects by means of a water flow.

At the seabed 3 are a variety of different objects, which are often sunk so deep after a more or less long dwell time on the seabed 3, that a salvage or an eviction or other handling operations are not possible or at least greatly aggravated. In the exemplary embodiment shown, the underwater vehicle 1 is used for clearing a base mine 4 sunk into the seabed 3. The underwater vehicle 1 is an unmanned underwater vehicle controllable in the three-dimensional underwater space, which has a rear-wheel drive 5 and can be maneuvered by means of elevators 6 and side elevators 7. The underwater vehicle 1 can be remotely controlled via the connection cable 2. The connection cable 2 is connected in the region of the stern of the underwater vehicle 1 and discharged aft, to avoid catching the connection cable 2 to the underwater vehicle and thus damage.

To expose the sunken base mine 4, the sediment is removed in the immediate vicinity of the base mine 4 by means of a water flow. The water flow is generated by a pump of the underwater vehicle and brought by means of a water flow leading working nozzle 8 in the intended work area in the vicinity of the base mine 4 to action. The device for exposing sunk objects by means of a water flow is formed in the present embodiment as a suction device, wherein the working nozzle 8 sucks water from the work area and thereby according to the suction pressure sediment entrainment. In an alternative, not shown embodiment, the working nozzle 8 is formed as a rinsing nozzle, wherein the flow of water is discharged through the working nozzle in the work area. The jet of water emitted by the rinsing nozzle entrains sediments in the area of the sunken object and rinses the object free.

In another embodiment, not shown, the device for exposing sunk objects with respect. The working direction of the water flow is switchable and can be operated depending on the setting of the working direction in a suction or a rinsing operation.

The device for exposing sunken objects by means of a water flow comprises in addition to the working nozzle a connected to the working nozzle 8 suction line 9 and a pump unit 10, which generates a negative pressure at the working nozzle 8. The pump unit 10 generates a water flow, wherein the working nozzle 8 is connected via the suction line 9 to the suction side of the pump unit 10. The pump unit 10 may be designed such that it sucks directly through the working nozzle 8. In an advantageous embodiment, the pump unit 10 sucks water from the environment of the underwater vehicle 1, wherein the suction line 9 of the working nozzle 8 is connected in the pumping direction behind the pump unit 10 such that under utilization of the Bernoulli effect, a negative pressure in the suction line 9 is generated. In this way it is prevented that the extracted sediments flow through the pump unit 10. Rather, the extracted emulsion from the working area of the working nozzle 8 is discharged directly through an outlet 1 1 back into the environment of the underwater vehicle 1.

The pump unit 10 is designed to be adjustable in its pumping power, wherein the pump power is regulated or controlled. As a control or control variable, the pressure in the working nozzle is measured in the embodiment shown by means of a sensor, not shown, and entered a control or control unit of the underwater vehicle. By setting the optimum working pressure, a fixed suction of the working nozzle 8 is prevented. Alternatively or additionally, a spacer is arranged on the working nozzle 8 to avoid a fixed suction of the working nozzle 8 in an embodiment not shown.

The working nozzle 8 is arranged in the region of a bow 12 of the underwater vehicle 1. For detecting the work area a camera 13 is arranged in the region of the bow 12, the signals are transmitted via the connecting line 12 to the system platform, so that a human operator can detect under real-time conditions the working area of the working nozzle 8 and control the underwater vehicle 1. For orientation purposes, the underwater vehicle 1 further comprises a sonar 14, which also transmits information about the connection cable 2 to the system platform. In an underwater vehicle mission, the underwater vehicle may be controlled into the designated workspace based on the information from the sonar 14. The approach to the base mine 4 to expose the base mine 4 is advantageously carried out using the information of the camera thirteenth

To optimally illuminate the work area, the underwater vehicle comprises two spaced apart and directed to the working area of the working nozzle 8 headlights 15. The headlights 15 are advantageously designed as LEDs and allow by their spaced arrangement, the detection of the work area without shadows. The working area of the working nozzle 8 is thereby optimally illuminated, wherein an erroneous detection of shadows is counteracted as objects. In order to further improve the detection of the work area, several cameras 13 may be provided.

In order to accurately position the underwater vehicle 1 in the working area, the underwater vehicle 1 is trimmed neutrally and has such trained and arranged maneuvering devices that the underwater vehicle in the directions of its spatial axes, namely the longitudinal axis L, the transverse axis Q and the vertical axis V, and in directions of rotations about the spatial axes L, Q, V is controllable. For this purpose, the maneuvering devices of the underwater vehicle include the rear drive 5 and side thrust drives 16, 16 ^' arranged in pairs with different effective directions. In the exemplary embodiment shown, a pair of side thrust drives 16, 16 ^{'are arranged} in the region of the bow 12 and a further pair of side thrust drives 16 ^" , 16 ^"' are arranged spaced apart in the direction of the longitudinal axis L. By this arrangement of Manövriereinrichtungen the underwater vehicle in the direction of each of the spatial axes L, Q, V maneuverable, which also precise yawing G (rotation about the vertical axis V) and pitching movements S (rotation about the transverse axis Q) and, if necessary, rolling movements R are possible ,

Due to the neutral trimming the underwater vehicle 1 floats at its working position. If up or down forces arise, for example as a result of changed environmental conditions, the trim is readjusted. Under the influence of lateral forces, the underwater vehicle 1 is positioned in its floating position via coordinated activation of the maneuvering devices. and, if necessary, adjusted in its orientation. The side thrust drives 16, 16 ^' , 16 ^" , 16 ^"' are controlled in a coordinated manner and the effect of the environment on the underwater vehicle is compensated for by commissioning the side thrust drives. For dynamic stabilization of the working position of the underwater vehicle during the mission via the control of the maneuvering drives, a control device is provided which determines the corresponding corrective measures on the basis of sensor values. The control device detects sensor values, for example sensor values with information about the position and orientation of the underwater vehicle 1.

The device for exposing sunk objects by means of a water flow has a counter-pressure nozzle 17 counteracting the working nozzle 8. During operation of the working nozzle 8, the continuous flow of water generates a force which is canceled or at least mitigated by the counteracting counterpressure nozzle 17. The back pressure nozzle is acted upon by the pump unit 10 at the same time as the working nozzle 8. The forces due to the suction at the working nozzle 8 are compensated by the back pressure nozzle 17 or at least partially canceled, so that a small resultant force acts on the underwater vehicle 1. The watercraft can therefore be kept stable with little or full compensation by the back pressure 17 without additional control measures in the working position, so that the risk of explosion when working on a base mine 4 is reduced.

The working nozzle 8 is arranged on a manipulation device 18, which consists of articulated robot arms in the embodiment shown. By means of joints 19, the manipulation device 18 can be pivoted from the underwater vehicle 1 into the working area near the base mine 4 to be cleared. By means of the manipulation device 18, the energy requirement of the underwater vehicle 1 can be considerably reduced, since the underwater vehicle itself does not have to be maneuvered for a movement of the working nozzle in the working area, but the working nozzle 8 with the manipulation device 18 is brought into a suitable position.

The manipulation device 18 is arranged in the region of the bow 12 of the underwater vehicle 1 and allows free movements of the working nozzle 8 in the intended working area in front of the headlights 15. The pivotable robot arms of the manipulation device 18 are advantageously arranged such that in a pivoted basic position (FIG Manipulation device 18 one of the two nozzles (working nozzle 8 or counter-pressure nozzle 17) pointing to the bow 12 and the work area. Since the water flow acts on both nozzles in order to compensate for the resulting forces, the nozzle directed towards the nose 12 acts as a working nozzle and exposes the base mine 4. If the manipulation device 18 is swiveled out in the direction of the arrow 20, the initially remote nozzle can be brought into the working area and act there as a working nozzle.

Advantageously, the underwater vehicle 1 has a metal detector or another auxiliary sensor for localizing the object, in particular the base mine 4. Advantageously, this metal detector is arranged at a distance from the hull of the underwater vehicle 1. Preferably, this metal detector is provided on the working nozzle 8. This is advantageous when the hull of the underwater vehicle 1 is formed of metal to withstand high pressures. By a spaced arrangement of the metal detector to the fuselage, the signal emitted by the metal detector, which indicates the presence of metal, less disturbed or less susceptible to interference. The working nozzle 8 is therefore advantageously made of a non-metallic material, in particular plastic. This preferably also applies to any back pressure nozzle 17 and / or manipulation device 18.

The suction line 9 opens into a suction hose 21, at the end of the outlet 11 is located for the flow of water. The suction hose 21 is dimensioned so long that the outlet 11 is located at such a distance from the underwater vehicle 1, that the extracted and discharged at the outlet 1 1 sediments can not return to the working area of the working nozzle 8. For this purpose, the suction hose 21 may be designed such that it is fixed by the underwater vehicle 1 in the vicinity of the ground mine 4 to be cleared on the ground and then the underwater vehicle 1 is moved up to the base mine 4.

The underwater vehicle 1 has an anchoring device 22, with which the underwater vehicle 1 can be fixed in its working position. The anchoring device 22 is in an advantageous embodiment, an anchor with a plurality of anchor tines in the manner of a harrow. Such an anchor is deposited on reaching the selected anchor position of the underwater vehicle 1. The release of the anchor from the underwater vehicle takes place on a corresponding control command via the connection cable 2 or is carried out by the underwater vehicle 1 automatically according to a predefined mission program. The formation of the anchor with a variety of anchor tines in the manner of a harrow allows the firm anchoring of the underwater vehicle 1, even in difficult seabed conditions.

In an alternative embodiment, the anchoring device 22 is designed as an electromagnet and / or as a vacuum device, wherein the underwater vehicle 1 is fixed to the base mine 4 or to another object in the vicinity of the object to be exposed. In order to fix the underwater vehicle, the anchoring device 22 can also be designed as a clamp device for clasping the object to be exposed or objects in the surroundings of the object or underwater vehicle 1.

In a further advantageous embodiment of the invention, the anchoring device 22 on a nail-shooting device, wherein on corresponding control command Befestigungsnägel- or bolts are delivered. With the help of the fastening nails ropes or other holding means can be secured to the seabed 3 and the underwater vehicle 1 are fixed. In addition, a fixation of the underwater vehicle 1 at the object to be exposed or another object in the vicinity of the object to be exposed is possible.

In the exemplary embodiment shown, the underwater vehicle 1 is equipped with an explosive charge 23, which is detachably arranged on the hull of the underwater vehicle 1. On a corresponding control command via the connection cable 2, the explosive charge 23 can be stored for the purpose of demining or attached to the base mine 4. The explosive charge 23 is a shaped charge which is attached to the base mine 4 to be cleared after its exposure. For the suitable positioning of the explosive charge 23, the anchoring device can advantageously be used, for example the explosive charge 23 can be fastened to a base mine 4 by means of a nail gun.

The explosive charge 23 is arranged in an embodiment not shown in the interior of the underwater vehicle 1. In this case, the underwater vehicle 1 is attached during the execution of the mission in the area or on the object to be cleared and maneuvered after the flushing of the object 4 in an optimal orientation for a blast. In this way, an efficient mine hunting drone is provided, which is effective even in difficult to clear mines. FIG. 2 shows an underwater system with an underwater vehicle 1 according to FIG. 1, which is controlled by a connection cable 2 from a system platform. In the exemplary embodiment shown, the system platform is a surface ship 24. In the underwater system shown, the connection cable 2 is connected to an in particular unmanned intermediary vehicle 25, which in turn is signal-transmittingly connected to the surface ship 24. The mediator vehicle 25 is also an overwater vehicle in the exemplary embodiment, so that a signal transmission between the mediator vehicle 25 and the human operator on board the surface ship 24 is possible over the radio with a long range. The mid-vehicle 25 and the mid-vehicle 25, the underwater vehicle 1 can therefore also operate at a greater distance to the mothership, without the mothership can be endangered by unforeseen detonations. For the transmission of information between the surface ship 24 and the mediator vehicle 25, a transmitting / receiving device 26, 26 ^{'is provided} for radio signals both on the surface ship 24 and on the mediator vehicle 25.

The connecting cable 2 between the mediate vehicle 25 and the underwater vehicle 1 includes a signal line 27 through which information is transmitted between the mediate vehicle 25 and the underwater vehicle 1. The signal line 27 is thus part of the signal path between the surface ship 24 with the human operator and the underwater vehicle 1. The signal line 27 is formed as a fiber optic cable (fiber optic). The intermediary vehicle 25 carries a control unit 28, with which the communication with the mothership is translated into optical signals.

In this embodiment, the underwater vehicle 1 includes its own energy source, and receives or sends via the connection cable 2 exclusively information. Since the manipulation device 18 (FIG. 1), exposing sunk objects by tracking the working nozzle without energy expenditure for a change in position of the underwater vehicle, the power source of the underwater vehicle 1 can be made small and space-saving.

In the embodiment shown with a connection cable 2, which has a signal line 27 for data transmission, the intermediary vehicle 25 forms a relay station, which averages the data communication between the mothership and the underwater vehicle 1. Advantageously, the underwater vehicle 1, with the sunken objects to be exposed on the seabed, transported by the mediator vehicle 25 to the place of use. In this way, the energy demand of the underwater vehicle 1 can be further reduced. It is only the amount of energy to be kept on board the underwater vehicle 1, which is actually needed for use on site.

3 shows an alternative exemplary embodiment of an underwater system with an underwater vehicle 1, a surface ship 24, which represents the carrier platform, and a mediate vehicle 25. As already shown in FIG. 2, the intermediary vehicle 25 is in radio communication with the surface ship 24. In contrast to the embodiment according to FIG. 2, in the exemplary embodiment of the underwater system according to FIG. 3, the connecting cable 2 contains, in addition to a signal line 27, a power line 29. The underwater vehicle 1 is supplied by the intermediary vehicle 25 via the power line 29. To supply the underwater vehicle 1 with energy, an energy source 30 is accommodated on board the mid-vehicle 25. The energy source 30 may be a generator or a battery with a correspondingly high capacity for supplying the underwater vehicle 1, so that missions with increased energy requirements can be carried out and in particular also extended mission times can be achieved.

All mentioned in the foregoing description and in the claims features are used individually as well as in any combination with each other. The disclosure of the invention is therefore not limited to the described or claimed feature combinations. Rather, all feature combinations are to be regarded as disclosed.

Claims

claims

1. A remotely controllable and manoeuvrable submersible with means for exposing sunken objects,

characterized in that

the device for exposing sunk objects comprises a working nozzle (8) which guides a flow of water and has a counterpressure nozzle (17) counteracting the working nozzle (8).

2. Underwater vehicle according to claim 1,

characterized in that

The device for exposing sunken objects has one or more, in particular rotatably drivable, tools such as brushes.

3. underwater vehicle according to claim 1 or 2,

characterized in that

the underwater vehicle (1) is trimmed neutrally and has such constructed and arranged maneuvering devices (5, 16, 16 ^' , 16 ^" , 16 ^"' ) that the underwater vehicle in the directions of its spatial axes, namely the longitudinal axis (L), the transverse axis ( Q) and the vertical axis (V), as well as in the direction of rotation about at least one of the spatial axes (L, Q, V) is controllable.

4. Underwater vehicle according to claim 3,

characterized in that

the maneuvering devices of the underwater vehicle (1) comprise a rear-wheel drive (5) and at least one side thrust drive (16, 16 ^' , 16 ^" , 16 ^"' ) which is arranged in the region of the bow (12) of the underwater vehicle (1), in particular in pairs each comprise different directions of action arranged side thrust drives (16, 16 ^' , 16 ^" , 16 ^"' ).

5. Underwater vehicle according to one of the preceding claims,

characterized in that

the device for exposing sunken objects by means of a water flow comprises a pumping unit (10) acting on the working nozzle (8), wherein the device for exposing sunken objects (4) by means of a water flow with respect to the Ar Beitsrichtung the water flow is reversible and operable in a suction or a purge mode, wherein the pump unit (10) is adjustable with respect to the pump power.

Underwater vehicle according to one of the preceding claims,

marked by

an anchoring device (22) for fixing the underwater vehicle (1) at or in the region of the object to be exposed, wherein the anchoring device (22) comprises:

an anchor with a plurality of anchor tines in the manner of a harrow and / or a nail gun and / or

an electromagnet and / or

a vacuum device and / or

a clamping device for clasping the object to be exposed or its parts and / or objects in the surroundings of the object or underwater vehicle (1).

Underwater vehicle according to one of the preceding claims,

characterized in that

the underwater vehicle (1) comprises means for detecting its environment, namely acoustic devices such as a sonar (14) or optical devices such as a camera (13).

Underwater vehicle according to one of the preceding claims,

characterized in that

the underwater vehicle (1) has a controllable manipulation device (18) which carries the working nozzle (8).

Underwater vehicle according to one of the preceding claims,

characterized in that

the underwater vehicle (1) carries an explosive charge (23), wherein the explosive charge (23) is a hollow charge.

Underwater vehicle according to one of the preceding claims,

characterized in that the underwater vehicle (1) comprises two or more spaced-apart and on the working area of the working nozzle (8) aligned headlight (15).

1 underwater vehicle according to one of the preceding claims,

characterized in that

the one to the working nozzle (8) connected to the suction line (9) away from the working area of the working nozzle (8) is guided away from the underwater vehicle (1) and has such a length to an outlet (1 1) of the water flow, that no at the outlet (1 1) exiting particle load flows back into the working area of the working nozzle (8).

12. Underwater system with an underwater vehicle according to one of claims 1 to 1 1 and a system platform, which signal-transmitting connected to the underwater vehicle (1),

characterized in that

the underwater vehicle (1) via wireless communication means and / or at least one connection cable (2) with a mediator vehicle (25) is connected, which in turn is connected to the system platform, in particular by means of a radio link.

13. Underwater system according to claim 12,

characterized in that

the connection cable (2) comprises a signal line (27).

14. Underwater system according to claim 13,

characterized in that

the signal line (27) is a glass fiber cable.

15. Underwater system according to one of claims 12 to 14,

characterized in that

the intermediary vehicle (25) carries an energy source (30) which is connected to the underwater vehicle (1) via a power line (29) in the connection cable (2).