WO2016037733A1 - Système de véhicules avec un navire-mère et un navire sans équipage et procédé pour remonter hors de l'eau un navire sans équipage - Google Patents

Système de véhicules avec un navire-mère et un navire sans équipage et procédé pour remonter hors de l'eau un navire sans équipage Download PDF

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Publication number
WO2016037733A1
WO2016037733A1 PCT/EP2015/065960 EP2015065960W WO2016037733A1 WO 2016037733 A1 WO2016037733 A1 WO 2016037733A1 EP 2015065960 W EP2015065960 W EP 2015065960W WO 2016037733 A1 WO2016037733 A1 WO 2016037733A1
Authority
WO
WIPO (PCT)
Prior art keywords
unmanned
unmanned watercraft
mothership
watercraft
line
Prior art date
Application number
PCT/EP2015/065960
Other languages
German (de)
English (en)
Inventor
Hinnerk Treyde
Original Assignee
Thyssenkrupp Marine Systems Gmbh
Thyssenkrupp Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thyssenkrupp Marine Systems Gmbh, Thyssenkrupp Ag filed Critical Thyssenkrupp Marine Systems Gmbh
Priority to US15/509,974 priority Critical patent/US20170259887A1/en
Priority to KR1020177005940A priority patent/KR20170038068A/ko
Priority to ES15739228T priority patent/ES2763105T3/es
Priority to AU2015314614A priority patent/AU2015314614B2/en
Priority to EP15739228.3A priority patent/EP3191362B1/fr
Publication of WO2016037733A1 publication Critical patent/WO2016037733A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • 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 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/40—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B45/00—Arrangements or adaptations of signalling or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • 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
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/40—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels
    • B63B2035/405—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels for carrying submarines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels

Definitions

  • a vehicle system including a mothership and an unmanned watercraft and method of retrieving an unmanned watercraft
  • the present invention relates to a vehicle system with a mothership and a recordable on the mothership, unmanned watercraft, wherein for recovering the unmanned watercraft by the mothership a connected via a leash to the mothership floats in the water can be exposed. Furthermore, the invention relates to a method for recovering an unmanned watercraft by a mothership, wherein a floating body connected to the mothership via a line is exposed in the water.
  • Unmanned watercraft do not have their own crew and can operate as an unmanned underwater vehicle below the water surface or as an unmanned surface vehicle at the water surface.
  • unmanned aerial vehicles a distinction is made between watercraft that are remotely controlled and watercraft that operate autonomously.
  • unmanned watercraft are used, for example, in the context of marine research.
  • autonomous vessels u. a. used for educational purposes, for example, for marine mine detection.
  • Unmanned watercraft are usually exposed by a mothership in the water and salvaged after completion of their mission by the mothership.
  • vehicle system known from WO 2007/033 384 A with a mothership and an unmanned watercraft, several floating bodies are deployed for recovery of the unmanned vessel, between which a cable runs.
  • the unmanned watercraft carries a fishing hook on a rope with which the cable between the two floats is captured to establish contact between the unmanned vessel and the mothership.
  • This vehicle system there is the disadvantage that to recover the unmanned watercraft with the two floats and the cable a large number of parts is required. For stowage of these parts must aboard the mothership or aboard the Underwater vehicle sufficient storage space are kept, which is often not available, especially in the military field of application.
  • a vehicle system is proposed with a mothership and a recordable from the mothership, unmanned watercraft, wherein for recovering the unmanned watercraft by the mothership a connected via a leash to the mothership floating body is exposed to water, and wherein the unmanned watercraft a catching device for catching the line is arranged.
  • the line running between the float and the vessel can be captured by the unmanned vessel catcher so as to establish contact between the unmanned vessel and the mothership. It is not necessary to have several
  • the catching device is fixedly formed on the outer contour of the unmanned watercraft. This has the advantage that the catching device is continuously ready for use and activation of the catcher before recovery by the mothership is not required. In addition, it is not necessary to provide additional space for storing the catching device on board the unmanned watercraft.
  • the catching device may be designed in the manner of a fishing hook or in the manner of a fishing rod.
  • the catching device can be moved from a rest position, in which the catching device is arranged within the outer contour of the unmanned watercraft, into a catching position, in which the catching device projects out of the outer contour.
  • the catching device located in the rest position, the flow characteristics of the unmanned watercraft are determined by the catching device. not impaired.
  • the catching device preferably protrudes from the outer contour of the unmanned watercraft in such a way that the line can catch on the floating body in the catching device when the unmanned watercraft passes by and contact can be established between the unmanned watercraft and the mothership.
  • the float on a transmitting device for transmitting locating signals so that the float can be located by the unmanned watercraft.
  • a transmitting device is particularly advantageous for recovery of autonomous water vehicles, since the control of the autonomous vessel can be based on the location of the floating body.
  • the locating signals emitted by the transmitting device are preferably radio signals, water sound signals and / or light signals.
  • the unmanned watercraft advantageously has a corresponding signal receiver.
  • the signal receiver can be designed, for example, as a radio receiver, as a sound receiver, as a sonar and / or as a light detector.
  • a spacer is arranged, which prevents the floating body from coming into contact with the unmanned watercraft. If the unmanned watercraft continues to move in the water after catching the line by the catcher, there is a risk that the float will be attracted to the unmanned vessel and damage to the unmanned vessel will be caused by contact with the float.
  • the spacer can be used to prevent the float from being so close to the unmanned watercraft that it comes into contact with the unmanned vessel.
  • a method for recovering an unmanned watercraft is further proposed by a mothership, wherein a connected via a line with the mothership floating body is exposed in the water, and wherein a arranged on the unmanned aerial vehicle catching the line traps to a Make contact between the mothership and the unmanned watercraft.
  • the locating of the floating body can take place by means of a signal receiver arranged on board the unmanned watercraft for radio signals, sound signals and / or light signals.
  • a sonar system, a radar system or an optical detection device can be arranged on board the unmanned watercraft, via which the floating body is located.
  • Floating body revolves.
  • the circling around the float increases the likelihood that the catcher will catch the line connecting the float to the mothership. It is not necessary for the unmanned watercraft to detect the course of the line to catch it.
  • the circling around the float can prevent the unmanned watercraft, and hence the weapon, from being aligned with the mothership.
  • the circling of the unmanned watercraft around the float also has the advantage that, at a short time interval following an unsuccessful capture attempt, another capture attempt is immediately made in which it is attempted to capture the leash with the unmanned vessel catcher.
  • the unmanned watercraft orbits the float completely, so that the unmanned watercraft in any case gets into the vicinity of the line and this can be captured by the captured on the unmanned watercraft catcher.
  • a control device of the watercraft controls it in such a way that it revolves around the floating body.
  • the movement of the unmanned watercraft around the float may include the course of a circle, the course of an ellipse or the course of a spiral.
  • the depth of travel of the unmanned watercraft may be varied while circling around the float to increase the likelihood of catching a leash that extends below the water surface.
  • the unmanned watercraft is switched without power after catching the line, whereby an undesirable train on the leash can be prevented.
  • the drive of the unmanned watercraft is switched off when the unmanned watercraft is in contact with a ne arranged spacers and / or device with the float.
  • the unmanned watercraft is spent on the leash aboard the mothership.
  • the unmanned vessel By pulling on the leash, the unmanned vessel can be moved towards the mothership after the line has been caught.
  • the unmanned vessel may be pulled up a ramp of the mothership by means of the rope, or the rope may be passed through a davit to lift the unmanned vessel out of the water.
  • the advantageous features described in connection with the vehicle system may be used alone or in combination.
  • FIG. 1 shows a first embodiment of a vehicle system according to the invention with an unmanned underwater vehicle in a schematic representation.
  • FIG. 2 shows the vehicle system according to FIG. 1, wherein the unmanned watercraft catching device is in contact with the line between the floating body and the mother ship.
  • FIG. 3 shows the vehicle system according to FIG. 1, the catching device being in contact with the spacer.
  • FIG. 4 shows a second embodiment of a vehicle system according to the invention with an unmanned surface vehicle in a schematic representation.
  • FIG. 1 shows a first exemplary embodiment of the vehicle system 1 according to the invention with a military mothership 2 and an unmanned watercraft 3, which is designed as an autonomous underwater vehicle.
  • the unmanned watercraft 3 is used to detect and clear maritime mines. In order to retrieve the unmanned watercraft 3 after completing its mission, special precautions have been taken in the vehicle system 1 which will be described below.
  • a catching device 9 is arranged on the unmanned watercraft 3, with which the running between the float 4 and the mothership 2 leash 5 can be captured to make contact between the mothership 2 and the unmanned watercraft 3.
  • the catching device 9 of the unmanned watercraft 3 is designed in the manner of a hooked rod.
  • the catching device 9 has at least one hook-like region in which the line 5 can be caught.
  • the catching device 9 can be arranged fixedly on the outer contour of the unmanned watercraft 3.
  • the catching device can be designed so adjustable that it can be moved from a rest position, in which the catching device 9 is disposed within the outer contour of the unmanned watercraft 3, in a catch position in which the catching device 9 protrudes from the outer contour of the unmanned watercraft 3 ,
  • the unmanned watercraft 3 is brought from the mothership 2 near its area of use and launched on water, so that the unmanned watercraft 3 can carry out its mission in the field.
  • the floating body 4 is kept on board the mothership 2 and left for recovery of the unmanned watercraft 3 after completion of the mission in the water, so that it drives on the water surface W.
  • the floating body 4 is connected via the leash 5 to the mothership 2 and therefore remains in the vicinity of the mothership 2.
  • the mothership 2 can be selectively moved during the recovery of the unmanned watercraft 3 or stand substantially still in the water.
  • the floating body 3 is a buoy equipped with a transmitting device for transmitting locating signals. About the transmitting device of the floating body 4 are Funkksig- emitted by the unmanned watercraft 3.
  • the unmanned watercraft 3 locates the floating body 4 on the basis of the locating signals emitted by the floating body 4.
  • the unmanned watercraft 3 is controlled by a control device of the unmanned watercraft 3 in such a way that it moves in the direction of the floating body 4. If the unmanned watercraft 3 has an adjustable catching device 9, the catching device 9 is brought into its catching position as soon as the unmanned watercraft 3 reaches the area of the floating body 3.
  • the unmanned watercraft 3 is controlled such that the unmanned watercraft 3 revolves around the floating body 4.
  • Circling has the advantage that several capture experiments can be performed in a short time interval.
  • the catching device 9 finally comes into contact with the line 5 when circling around the floating body 4 and the line 5 gets caught in the catching device 9.
  • the leash 5 is pulled by the catcher 9, so float 4 and unmanned watercraft 3 approach each other.
  • a spacer 6 is provided on the leash 5. As shown in FIG. 3, the unmanned vessel 3 encounters the spacer 6 after the line 5 has been caught. As soon as the unmanned vessel 3 is in contact with the spacer 6, the drive of the unmanned vessel 3 is shut off.
  • the line 5 is then pulled by a collecting device 7 of the mothership 2 in the direction of the mothership 2 in order to catch up the line 5 together with the unmanned vessel 3 and the floating body 4.
  • the unmanned watercraft 3 will either pulled over a ramp 8 of the mothership 2 on the mothership 2 or it is lifted over a davit of the mothership 2 from the water.
  • FIG. 4 shows a second exemplary embodiment of the vehicle system 1 according to the invention.
  • the unmanned watercraft 3 is formed as a remote-controlled surface vehicle, which is used for reconnaissance purposes.
  • the unmanned watercraft 3 can be retrieved by the mother ship 2 and recorded on it with the method described in connection with the first embodiment.
  • the vehicle system 1 described above has a mothership 2 and a recordable on the mothership 2, unmanned watercraft 3, wherein for recovering the unmanned watercraft 3 by the mothership 2 a connected via a leash 5 with the mothership 2 floating body 4 is exposed to water, and wherein at the unmanned watercraft 3, a catching device 9 is arranged for catching the line 5.
  • a floating body 4 connected via a leash 5 to the mothership 2 is exposed in the water and a catching device 9 arranged on the unmanned watercraft 3 intercepts the leash 5 around one Make contact between the mothership 2 and the unmanned watercraft 3.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système de véhicules (1) comprenant un navire-mère (2) et un navire sans équipage (3) pouvant être accueilli sur le navire-mère (2). Pour remonter hors de l'eau le navire sans équipage (3) avec le navire-mère (2), un corps flottant (4) relié au navire-mère (2) par le biais d'une corde (5) peut être filé dans l'eau, et un dispositif d'accrochage (9) destiné à capturer la corde (5) est disposé sur le navire sans équipage (3). L'invention concerne en outre un procédé pour remonter hors de l'eau un navire sans équipage (3) avec un navire-mère (2). Un corps flottant (4) relié au navire-mère (2) par le biais d'une corde (5) est filé dans l'eau, et un dispositif d'accrochage (9) disposé sur le navire sans équipage (3) capture la corde (5) afin d'établir un contact entre le navire-mère (2) et le navire sans équipage (3).
PCT/EP2015/065960 2014-09-12 2015-07-13 Système de véhicules avec un navire-mère et un navire sans équipage et procédé pour remonter hors de l'eau un navire sans équipage WO2016037733A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US15/509,974 US20170259887A1 (en) 2014-09-12 2015-07-13 Vehicle system comprising a mother ship and an unmanned watercraft, and method for recovering an unmanned watercraft
KR1020177005940A KR20170038068A (ko) 2014-09-12 2015-07-13 모선과 무인 워터크래프트를 포함하는 비히클 시스템, 및 무인 워터크래프트를 회수하기 위한 방법
ES15739228T ES2763105T3 (es) 2014-09-12 2015-07-13 Sistema de vehículos con un buque nodriza y una embarcación no tripulada, y procedimiento para recuperar una embarcación no tripulada
AU2015314614A AU2015314614B2 (en) 2014-09-12 2015-07-13 Vehicle system comprising a mother ship and an unmanned watercraft, and method for recovering an unmanned watercraft
EP15739228.3A EP3191362B1 (fr) 2014-09-12 2015-07-13 Système de véhicules avec un navire-mère et un navire sans équipage et procédé pour remonter hors de l'eau un navire sans équipage

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014113184.3A DE102014113184A1 (de) 2014-09-12 2014-09-12 Fahrzeugsystem mit einem Mutterschiff und einem unbemannten Wasserfahrzeug und Verfahren zum Bergen eines unbemannten Wasserfahrzeugs
DE102014113184.3 2014-09-12

Publications (1)

Publication Number Publication Date
WO2016037733A1 true WO2016037733A1 (fr) 2016-03-17

Family

ID=53682672

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/065960 WO2016037733A1 (fr) 2014-09-12 2015-07-13 Système de véhicules avec un navire-mère et un navire sans équipage et procédé pour remonter hors de l'eau un navire sans équipage

Country Status (7)

Country Link
US (1) US20170259887A1 (fr)
EP (1) EP3191362B1 (fr)
KR (1) KR20170038068A (fr)
AU (1) AU2015314614B2 (fr)
DE (1) DE102014113184A1 (fr)
ES (1) ES2763105T3 (fr)
WO (1) WO2016037733A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018224207A1 (fr) * 2017-06-06 2018-12-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif et procédé pour loger un navire submersible

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5377165A (en) * 1994-05-05 1994-12-27 The United States Of America As Represented By The Secretary Of The Navy Communication system for submarines
US7025014B1 (en) * 2004-03-03 2006-04-11 The United States Of America As Represented By The Secretary Of The Navy Sea vessel retrieval of unmanned underwater vehicles
FR2994560A1 (fr) * 2012-08-17 2014-02-21 Thales Sa Dispositif permettant de remorquer un engin sous-marin autonome
WO2014173392A1 (fr) * 2013-04-26 2014-10-30 Atlas Elektronik Gmbh Véhicule submersible autonome, et procédé pour haler un tel véhicule submersible

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2526348A (en) * 1945-11-16 1950-10-17 Saunders Roe Ltd Pickup hook for flying boats
FR2601323B1 (fr) * 1986-07-10 1988-10-07 France Etat Armement Procede et dispositif d'assistance a la manutention d'une charge flottante
US5396859A (en) * 1993-09-13 1995-03-14 The United States Of America As Represented By The Secretary Of The Navy System for effecting underwater coupling of optical fiber cables characterized by a novel V-probe cable capture mechanism
WO2007033384A2 (fr) 2005-09-16 2007-03-22 Bae Systems Land & Armaments L.P. Systeme de lancement et de recuperation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5377165A (en) * 1994-05-05 1994-12-27 The United States Of America As Represented By The Secretary Of The Navy Communication system for submarines
US7025014B1 (en) * 2004-03-03 2006-04-11 The United States Of America As Represented By The Secretary Of The Navy Sea vessel retrieval of unmanned underwater vehicles
FR2994560A1 (fr) * 2012-08-17 2014-02-21 Thales Sa Dispositif permettant de remorquer un engin sous-marin autonome
WO2014173392A1 (fr) * 2013-04-26 2014-10-30 Atlas Elektronik Gmbh Véhicule submersible autonome, et procédé pour haler un tel véhicule submersible

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018224207A1 (fr) * 2017-06-06 2018-12-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif et procédé pour loger un navire submersible

Also Published As

Publication number Publication date
ES2763105T3 (es) 2020-05-27
AU2015314614B2 (en) 2018-08-02
US20170259887A1 (en) 2017-09-14
EP3191362A1 (fr) 2017-07-19
EP3191362B1 (fr) 2019-09-25
KR20170038068A (ko) 2017-04-05
DE102014113184A1 (de) 2016-03-17
AU2015314614A1 (en) 2017-03-02

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