WO2017211959A1

WO2017211959A1 - Recovery device and associated method

Info

Publication number: WO2017211959A1
Application number: PCT/EP2017/063979
Authority: WO
Inventors: Gunnar Brink; Collin BARTH
Original assignee: Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Priority date: 2016-06-08
Filing date: 2017-06-08
Publication date: 2017-12-14
Also published as: DE102016210128A1; EP3468859A1

Abstract

The invention relates to a recovery device comprising two hulls (12a, 12b) and a catching net (14) arranged between the two hulls for receiving an autonomous underwater vehicle (16). The catching net can be lowered from a non-lowered state of the catching net into a lowered state of the catching net such that the autonomous underwater vehicle can be received in the lowered state and can be transported in the non-lowered state.

Description

Recovery device and associated method

description

Embodiments of the present invention relate to a recovery device and to an associated method for recovering an autonomous underwater vehicle. Preferred embodiments relate to a catamaran or SWATH (Twin Waterplane Area Twin Hull) recovery device. Other embodiments relate to a corresponding recovery method.

Ship costs dominate the marine research with submarines, such. autonomous underwater vehicle (AUV). Scientific ships and surveying vessels are expensive because they are highly specialized constructions. It would improve the cost situation if ordinary low-cost supply vessels could be converted into a research vessel in a short time, increasing the pool of available vessels and allowing more AUVs to work in marine research reduce economically measured surveying or exploration.

When using AUVs, another cost driver is the launch and recovery system used on scientific vessels or surveying vessels (LARS, lau- nch and recovery systems). Such LARS have their own cranes or ramps that allow recovery up to heavy seas (e.g., level 3, 4 or higher). Costs for such LARS regularly exceed one million euros per system. Furthermore, as already mentioned above, such LARS are not applicable to any ship.

A very time-consuming, technically sophisticated method is used by the Bundeswehr. Inflatables are used here for the recovery of practice torpedoes. The bottom of the inflatable boat is under water, so that the inflatable boat is open to the rear. Divers attach a rope to the practice torpedo, which is used to pull the exercise torpedo into the dinghy. While this approach is fairly simple in terms of the resources used, it does There is a need for an improved approach.

Object of the present invention is to determine a recovery system, which in itself provides an improved compromise of cost-efficiency and operational capability and which can be used especially on conventional ships.

The object is solved by the independent claims. Embodiments of the present invention provide a recovery device having two hulls and a (fixed) safety net arranged between the two hulls for housing an autonomous underwater vehicle. The safety net is lowered from a non-lowered state to a lowered state, so that the autonomous watercraft in the lowered state is receivable and transportable in the non-lowered state. The reverse movement from the lowered and not lowered state is then carried out during the actual recovery process.

Embodiments of the present invention is based on the finding that the recovery device has a type of catamaran shape or a type of SWATH form, which makes it possible to recover an AUV in the space between the two hulls. For this purpose, the AUV enters between the two hulls and is then recovered by catching it by means of a catch net lowered in advance. This principle offers two major advantages, namely that the catamaran moves with the waves, so that an AUV can be safely and reliably salvaged even at high seas. Further, the catamaran itself may be retrieved by means of a conventional crane, which is typically present on standard supply vessels, together with the already recovered AUV itself. Another minor advantage is that such a recovery device can then be transported together with the salvaged AUV in the same container, so that here also the space required on deck is minimized.

According to further embodiments, the network is, for example by means of one or more electric winches / motors lowered and raised, so that here no additional action of personnel is necessary. According to further embodiments, the recovery device has at least one drive motor for advancing the same. According to yet another embodiment, the recovery device can also by means of the control of the recovery device, such as a rudder or starboard and port side arranged Antriebsmotor- ren or one or more drive gondolas include, so that the recovery device is largely independent of the mothership.

The control of this recovery device can be done by remote control, autonomously or by a crew of the recovery device itself.

With regard to the construction of the recovery device, there are different variants, e.g. according to a variant corresponding embodiments, the two hulls are spaced from each other with a fixed distance. According to a further exemplary embodiment, the two hulls can be pushed together in order to be able to better transport the rescue device.

According to further embodiments, the recovery device is extended by having a winch for retrieving the AUV in the space between the two hulls. For example, hooks on the AUV or on a pop-up nose can be hung in the wind.

According to yet further embodiments, the recovery device itself comprises means, e.g. Eyelets, on, so that the recovery device itself can be recovered from the mothership.

According to further embodiments, the recovery device may include means for determining position, e.g. GPS receivers include, but also means that make it possible to improve the location of the AUV, especially in underwater operation. These include e.g. Transmitter and receiver or a so-called hydrophone, e.g. forward the GPS signals under water. These transmitters and receivers or the hydrophone are arranged under the water surface and allow the location according to the principle according to USBL (ultra-short baseline) or LBL (long baseline) concepts.

Another exemplary embodiment shows a method for recovering an autonomous underwater vehicle by means of a recovery device with two hulls and a safety net arranged between the two hulls for picking up the underwater vehicle. The method comprises the steps of lowering the safety net from a non-lowered state to a lowered state in which the autonomous underwater vehicle can be received in the recovery device, and lifting the safety net to a non-lowered state in which the autonomous underwater vehicle is hauled and thus transportable is.

Further developments are defined in the subclaims. Embodiments of the invention are explained below with reference to the accompanying drawings. Show it:

Fig. 1a is a schematic representation of a recovery device according to the basic embodiment;

Fig. 1 b is a schematic flow diagram for illustrating the method in

mountains;

Fig. 2a, b three-dimensional representations of the recovery device when recovering a

Underwater vehicle according to extended embodiments; and

3a-f further illustrations of the embodiment of FIGS. 2a and 2b for illustrating optional features.

Before embodiments of the present invention will be explained in detail with reference to the figures, it should be noted that like-acting elements and structures are provided with the same reference numerals, so that the description of the mutually applicable or interchangeable.

1 a shows a recovery device 10 in the form of a catamaran with two hulls 12 a and 12 b and a safety net 14 arranged between the two hulls for recovering an AUV 16.

In the catamaran 10, the two hulls 12a and 12b are arranged substantially in parallel, so that a gap 12z is established between the two hulls 12a and 12b. In this space, the AUV 16 retract. It should be noted that the retraction can be done either from the front, ie from the bow side or from the rear, ie from aft, it is preferably also possible that the gap 12z is open on both sides. The mode of operation of the recovery device 10 will now be explained with reference to the recovery method 100, which is illustrated in FIG. 1 b. The following diagram assumes that the safety net 14 has already been lowered below the water surface (compare step 1 10 "lowering the safety net" of the method 100 for "recovery of an autonomous underwater vehicle" shown in FIG.

If the AUV 16 is then retracted into the intermediate space 12z, the AUV 16 can be recovered by means of the network 14. For this purpose, the previously drained net 14 is then transferred from a lowered position, in which the net drives under the water surface, into a non-lowered position (compare step 120 "lifting the safety net 14"), in which the AUV 16 is retrieved in the network 14. The method may also include the optional step of "catching up AUVs" 130 and "AUV driving on" 130, respectively

For this purpose, according to embodiments, the network 14 extends over the entire gap 12z, i. that is, from the first fuselage 12a to the second fuselage 12a, and preferably also over the entire length of the AUV 16, and for example so that it is stretched only between the two fuselages and is open at the bow and aft ends.

The transfer from the lowered in non-lowered position is preferably motorized, wherein by the (horizontal) lifting the network 14, the AUV is just recovered, for example, in the way that it is lifted out of the water and can be transported above the water surface ,

In this salvaged position, the AUV 16 can be transported and then put back into the water at a later date. Since the recovery device 10 is comparable in dimensions to the AUV 16, both elements 10 and 16 behave similarly with respect to the swell. Thus, it is advantageously possible that the AUV 16 can be salvaged even in high seas. In a subsequent step, the recovery device 10 can then be obtained together with the AUV 16 on the mother ship. When recovering the catamaran 10, a conventional crane or a recovery device for a dinghy can be used. When catamaran 10 are either eyelets for Hooking the catamaran 10 or even simple engagement surfaces, such as the bottom of the catamaran 10 provide over which the recovery means of the mothership catamaran 10 together with AUV 16 can recover. Since the AUV 16 is disposed in the space 12z between the two hulls 12a and 12b, the AUV 16 is outwardly protected, eg against collision with the ship's wall.

Referring to Fig. 2a and 2b, the retraction process will now be explained.

Fig. 2a shows the recovery device 10 'with the two hulls 12a and 12b arranged in the space 12z net 14, which is in the deflated position. This deflated position can be seen in particular from Fig. 2b, which represents the safety net 14 as a U-shaped between the two hulls driving under the water surface 1 1 o. For this purpose, the "draft of the network 14 is selected such that the AUV 16 can enter safely.

To ensure the distance between the hulls 12a and 12b, they are rigidly connected to each other by means of rods 12s1 and 12s2. Thus, not only in the depth direction, but also in width direction enough space in the space 12z for the AUV 16 is created.

In the next step, as already explained with reference to Figs. 1a and 1b, the fixed net 14 of the catamaran 10 and the SWATH 10 is motorized, i. e.g. lifted by means of winches so as to remove the AUV 16 from the water, i. So to carry over the water surface 1 1 o.

Referring to Figures 3a-3f, optional features of the recovery device 10 'shown in Figures 2a and 2b will be discussed.

Three-dimensional representations of the recovery device 10 'are shown in FIGS. 3a and 3b, with 3a showing the aft view and 3b the bow view. For example, the recovery device 10 'has the dimensions LOA 5m x LPP 4.5m, B 2,786m, T 0,430m, at Δ 1, 45m 3, D 1, 05m. This results in a total weight of 1, 584 1.

In Fig. 3a and 3b, the safety net 14 is drained respectively. Fig. 3c shows a plan view, 3d a side view and de rear view of the recovery device 10 ', wherein in each case the autonomous underwater vehicle 16 has already retracted into the intermediate space 12z. As can be seen from Fig. 3a, the recovery device 10 'is motorized and has on each fuselage side (12a and 12b) depending on a drive motor 21 a and 21 b, here two outboards (eg two 15 hp engines or electric drives in combination with batteries or batteries). This outboard may either be pivotable to allow rudder functionality or simply be differently controlled in its output power to allow maneuvering of the recovery device 10 '.

Further, according to other embodiments, the recovery device 10 'has a control station 22 by means of which the recovery device 10' can be controlled (i.e., maneuvered and the recovery operation performed). For this purpose, a second control station, such as. provided on the bow side helm 23 may be provided for a second member of the ship's crew, for example, pulls the AUV in the space 12z.

A winch 24 can also be used to pull in, by means of which a rope of the AUV 16 can be caught and caught up. Proceeding from this, then the recovery process is as follows: Catamaran 10 'is let into the water

• AUV sounds "Pop-up Nose"

• Catamaran 10 'approaches the driving line

• Boatman catches the driving line with a boat hook

• Boatman carries the leash between the hulls

· Boatswain hauls AUV 16 in mountains position between the hulls

• With the winches the net is pulled up under the AUV 16 and the AUV 16 is lashed in storage position

• Catamaran 10 'drives back to the mothership

• The catamaran 10 'is attached to the crane and salvaged

· The catamaran 10 'hulls protect the AUV against blows against the

ship wall

In this embodiment, two winches 14a and 14b are provided for raising and lowering the net. Each winch 14a and 14b can have a lifting capacity of 4.3 tons. According to further embodiments, each bow 12a and 12b on two eyelets, by means of which the catamaran 10 'can be obtained on the mothership. These eyelets 25a-d are shown in Fig. 3b. If no AUV 16 is arranged in the gap 12z, the two hulls 12a and 12b can be pushed together according to further embodiments, as can be seen from Fig. 3f. Based on the catamaran shape, the recovery device 10 'is still safe in the water. In further exemplary embodiments, the recovery device 10 'may have transmitters and receivers arranged below the water surface 11, eg belonging to a hydrophone (not shown), which make it possible to support the position determination of the AUV in diving operation. The basis for such systems is the concept USBL (ultra-short baseline) or LBL (long baseline).

According to further embodiments, for determining the position of the recovery device 10 ', the recovery device 10' itself may have a GPS antenna, by means of which the position in the water can be determined. This GPS antenna or position determination is then used to assist in determining the position of the AUV during the dive process by knowing the position of the recovery device 10 'from which the signals for underwater location can be transmitted and received.

According to further embodiments, the recovery device 10 'mount device 10' may also be unmanned and be controlled for example via a radio or cable connection from the mothership. Alternatively, it would also be conceivable that an autonomous control of the recovery device is possible.

Although in the above embodiments it has always been assumed that two prime movers, which are simultaneously provided for the control, it should be noted at this point that essentially one prime mover is sufficient, which can be combined with one rudder. Alternatively, gondola drives would be possible. With reference to the above-mentioned embodiments, it should be noted that this preferred manner is described in the context of a device was, with further embodiments provide a corresponding method. A description of the individual features from the device descriptions also provides a corresponding description of the features of the associated method steps.

The above embodiments are for instruction only and do not limit the scope of protection. The scope of protection is defined by the following claims.

Claims

Recovery device (10, 10 ') having the following features: two hulls (12a, 12b); and a safety net (14) arranged between the two hulls (12a, 12b) for picking up an autonomous underwater vehicle (16), wherein the safety net (14) moves from a non-lowered state of the safety net (14) into a lowered state of the safety net (14). can be lowered, so that the autonomous underwater vehicle (16) in the lowered state is receivable and transportable in the non-lowered state.

Recovery device (10, 10 ') according to claim 1, wherein at least one of the two hulls (12a, 12b) has motor-operated means for lowering (1 10) and lifting (120) of the safety net (14).

Recovery device (10, 10 ') according to claim 1 or 2, wherein the recovery device (10, 10') comprises at least one drive motor for advancing the recovery device (10, 10 ').

Recovery device (10, 10 ') according to one of the preceding claims, wherein the recovery device (10, 10') comprises means for controlling the recovery device (10, 10 ') in the form of a rudder, at least one rotatable drive nacelle and / or in the form of at least two laterally arranged drive motors (21 a, 21 b).

Recovery device (10, 10 ') according to one of the preceding claims, wherein the recovery device (10, 10') has a computing unit for the autonomous control of the recovery device (10, 10 ').

6. recovery device (10, 10 ') according to one of the preceding claims,

the recovery device (10, 10 ') can be remotely controlled externally.

7. recovery device (10, 10 ') according to one of claims 1 to 4, wherein the recovery device (10, 10') has a control station (22).

8. recovery device (10, 10 ') according to one of the preceding claims, wherein the recovery device (10, 10') both the bow side and aft between the two hulls (12a, 12b) has an opening, so that the autonomous underwater vehicle (16) both on the bow and aft each have an opening between the two hulls (12a, 12b), via which the autonomous underwater vehicle (16) in the recovery device (10, 10 ') can retract.

9. recovery device (10, 10 ') according to one of the preceding claims, wherein the two hulls (12a, 12b) are rigidly connected together.

10. recovery device (10, 10 ') according to claim 9, wherein the rigid connection is carried out such that the two hulls (12a, 12b) are collapsible, so that between the two hulls (12a, 12b) no opening is present.

1 1. Recovery device (10, 10 ') according to one of the preceding claims, wherein the recovery device (10, 10') has a winch for pulling the autonomous underwater vehicle (16) into the recovery device (10, 10 ').

12. recovery device (10, 10 ') according to one of the preceding claims, wherein the recovery device (10, 10') has means for determining the position of the recovery device (10, 10 ').

13. Recovery device (10, 10 ') according to one of the preceding claims, wherein the recovery device (10, 10') has a submerged transmitter, a submerged receiver and / or a submerged hydrophone, about which the position of the autonomous Underwater vehicle (16) is determinable during the dive.

14. recovery device (10, 10 ') according to one of the preceding claims, wherein the recovery device (10, 10') has means for coupling (25a-25c) of the recovery device (10, 10 ') to a mothership.

A method (100) for recovering an autonomous underwater vehicle (16) by means of a recovery device (10, 10 ') having two hulls (12a, 12b) and a catching net (14) arranged between the two hulls (12a, 12b) for receiving the hull Underwater vehicle (16), with the following steps:

Lowering (110) the safety net (14) from a non-lowered state to a lowered state, in which the autonomous underwater vehicle (16) can be received in the recovery device (10, 10 '); and

Lifting (120) the safety net (14) to a non-lowered condition in which the autonomous underwater vehicle (16) is transportable.

A recovery device (10, 10 ') for an autonomous underwater vehicle, comprising: two hulls (12a, 12b); and a safety net (14) arranged between the two hulls (12a, 12b) for housing the autonomous underwater vehicle (16), wherein the safety net (14) is held only between the two hulls and is open at the bow and aft sides, the safety net (14) 14) is lowered from a non-lowered state of the safety net (14) in a lowered state of the safety net (14), so that the autonomous underwater vehicle (16) is receivable in the lowered state, wherein the safety net (14) of the lowered state in the non-lowered state can be raised by raising it horizontally, so that the autonomous underwater vehicle (16) can be transported in the non-lowered state; wherein the recovery device (10, 10 ') has an opening both at the bow and at the stern between the two hulls (12a, 12b), so that for the autonomous underwater vehicle (16) an opening between the two hulls (12a 12b) via which the autonomous underwater vehicle (16) can enter and exit the recovery device (10, 10 '). A recovery device (10, 10 ') according to claim 16, wherein the autonomous underwater vehicle (16) is transportable above the water surface in the unextended condition.