WO2018224207A1

WO2018224207A1 - Apparatus and method for collecting a submarine vehicle

Info

Publication number: WO2018224207A1
Application number: PCT/EP2018/059673
Authority: WO
Inventors: Gunnar Brink
Original assignee: Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Priority date: 2017-06-06
Filing date: 2018-04-16
Publication date: 2018-12-13
Also published as: DE102017209514A1; NO20191479A1

Abstract

An autonomous surface vehicle for collecting the submarine vehicle comprises a main floating body (12) and a pivot arm (14). In addition, the latter comprises means (18) for collecting the submarine vehicle, which are spaced apart from the main floating body (12) via the pivot arm (14).

Description

Device and method for picking up an underwater vehicle

description

Embodiments of the present invention relate to an autonomous surface vehicle for receiving an underwater vehicle and to a system comprising a surface vehicle and an underwater vehicle. Another embodiment relates to a method for recovering an autonomous underwater vehicle.

Underwater vehicles or autonomous underwater vehicles (AUV) can be salvaged in different ways. A common method for recovering the underwater vehicle can be described as follows: When the underwater vehicle emerges, a small buoy separates from the latter, which is floatingly connected to the AUV on the surface via a leash. This is disclosed, for example, in WO 2014/173392 A1. Usually, after the emergence of the AUV and the triggering of the buoy with a harpoon from the ship, a throw anchor with a second line is shot over the line between AUV and buoy and then slowly pulled back to grab the line between buoy and AUV. Here, the leash gets caught with the throw anchor, so that you can pull the buoy on board. The harpoon is necessary because it can be prevented by the same that the line is pulled into the propeller drive. This procedure is very error prone and extremely time consuming. In addition, reference is also made to EP 2739524 B1.

From a further prior art known variant is the so-called Caliste concept of ifremer. Here, a suspension system is described, which includes a freely floating in the water, secured only with a leash cage. This approach is e.g. in WO 2008/012473 A1 explained. Due to the permanent connection to the mothership there are restrictions regarding user-friendliness and flexibility. Therefore, there is a need for an improved approach.

The object of the present invention is to provide an improved concept for recovering underwater vehicles, in particular autonomous underwater vehicles. The object is solved by the independent claims.

Embodiments of the present invention provide an autonomous surface vehicle for receiving an underwater vehicle having a (for example motor driven) float, a swing arm / boom and an optional sub-float connected to the main float via the swing arm / boom. In addition, the surface vehicle includes z. B. on the swing arm or on the Nebenschwimmkörper connected means for receiving the underwater vehicle, which are spaced above the pivot arm of the main floating body.

Embodiments of the present application is therefore based on the finding that on recording means such. B. a hook that protrude through a - eg laterally outstanding - tree of the surface vehicle (UPS, Unmanned Surface Vehicle) into the water, an underwater vehicle can be taken for example on a leash of the same. The spacing of the receiving means and the (motor-driven) main hull of the UPS reduces the risk of catching the line in the propeller. Furthermore, the fact that the surface vehicle is independently drivable or maneuverable, the ergonomics of the recovery process can be significantly improved. As according to a preferred variant, the surface vehicle acts autonomously, the user comfort is further increased. According to further embodiments, the risk of entanglement can be further reduced by using a jet propulsion system. According to embodiments, the means for recording under the water surface, z. B. executed one or more meters below the water surface. In this case, for example, a hook or underwater leash can be used. Since the buoy floats on the surface and consequently the line extends obliquely down to the underwater vehicle, such an arrangement allows a reliable gripping of the line. According to a further embodiment, a winch may be provided, so that by means of this winch after picking up the line or generally after grasping the underwater vehicle, the underwater vehicle can be drawn on to the surface vehicle or can be charged. According to one embodiment, the main floating body of the surface vehicle comprises a so-called double hull, possibly also with a space between the two hulls of the double hull, in which the underwater vehicle can be hauled.

According to embodiments, the pivot arm, z. B. swinging out of the way to the side or generally swivel. According to the preferred case, pivoting (e.g., lateral) to the side occurs. The panning pursues the idea that the secondary floating body is arranged at a distance through the water when traveling, but can be folded on the main floating body, so as to improve the maneuverability and the water resistance. The swinging away can be done either by pivoting out of the water or parallel to the main floating body. In addition to active motorized pivoting, pivoting may e.g. be realized in the way that the swinging away, z. B. by notching the boom or a locking mechanism with which the boom is fixed relative to the main floating body, takes place, so that the pivot arm is folded when driving through the water to the main floating body.

The surface vehicle according to another embodiment comprises a receiver configured to receive a signal from the underwater vehicle or a signal from the buoy connected to the underwater vehicle such that the surface vehicle may locate the underwater vehicle. According to further embodiments, depending on the location of the underwater vehicle, the maneuvering of the surface vehicle to the underwater vehicle or the buoy of the underwater vehicle take place. Here, the control is preferably carried out so that the surface vehicle is positioned relative to the buoy so that the line between the buoy and underwater vehicle can be obtained.

Since, as explained above, the surface vehicle can act autonomously, according to a further exemplary embodiment, the same can be generated by means of energy generation, such as, for example, energy generation. As solar cells or other energy harvester to extend the service life (on the high seas, for example). This approach is transferable to any UPS. In order to be able to perish on high seas even in a storm or not to return to the mothership in storm, it is according to embodiments conceivable that the surface vehicle includes a diving function so that it can submerge below the water surface so as to be protected from the storm. A further embodiment relates to a system with a corresponding surface vehicle and an autonomous underwater vehicle, which comprises a drop-off or releasable buoy, which is connected via a leash to the autonomous underwater vehicle. As already explained above, the means for receiving the underwater vehicle in this case are designed to grip the line between the buoy and the autonomous underwater vehicle.

An additional embodiment provides a method for recovering an autonomous submersible with a knock-out buoy that is again connected by a leash to the autonomous submersible. In this procedure, the following steps are performed: "dropping or unlatching the ejectable or releasable buoy", "swinging the swing arm", "maneuvering the surface vehicle to the buoy" and "engaging the underwater vehicle with the leash of the underwater vehicle underwater vehicle ".

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

1 a is a schematic representation of a surface vehicle according to a

Embodiment;

1 b shows a schematic representation of the surface vehicle from FIG. 1 together with an autonomous underwater vehicle to be sheltered according to a further exemplary embodiment; and

2a-2d are schematic representations of a surface vehicle in combination with an underwater vehicle during the recovery operation according to a further embodiment.

Before explaining embodiments of the present invention with reference to the accompanying drawings, it should be noted that the same elements or structures are provided with the same reference numerals, so that the description of the mutually applicable or interchangeable. 1 a shows a surface vehicle 10 with a main floating body 12, which is embodied here as the hull of the surface vehicle 10. From the main floating body 12, a boom 14 protrudes. This boom 14 z. B. in the form of a tree or mast is designed to pivot. Thus, the boom 14, especially in the unfolded state, does not lead to excessive injury of the main floating body 12, z. B. at the end of the boom 14 a Nebenschwimmkörper 16, z. B. a small pontoon provided, which floats on the water surface. This float 16 allows the mast 14 to be independent of how long or how heavy it is, not overburdening the UPS too much.

The surface vehicle 10 may be motor-driven in accordance with preferred embodiments, it being assumed in this embodiment that the main floating body 12 is provided with a motor and a drive screw 17 or a jet drive. From the main floating body 12, or in particular away from the engine, so-called means for receiving an underwater vehicle are arranged. These means for receiving the underwater vehicle are provided with the reference numeral 18. This arrangement is realized in that these means 18 are provided, for example, on the boom 14 or the Nebenschwimmkörper 16. The remote arrangement has the purpose of avoiding a collision or mutual influence of the drive 17 with a marine submersible. In this embodiment, the receiving means 18, for example, by a submerged fishing hook, which projects above a rod below the water surface, realized. The hook can intervene, for example, in a leash of an underwater vehicle, in particular an autonomous underwater vehicle.

This process or the interaction with the underwater vehicle will be explained with reference to FIG. 1 b. 1 b shows the underwater vehicle 10 floating on the water surface 20, wherein an engagement between the upper water vehicle 10 and an underwater vehicle 30 exists. The surface vehicle 10 floats with the two floats 12 and 16 on the water surface, wherein the Nebenschwimmkörper 16 is folded over the boom 14 to the side, so that a gap between the floating body 12 and 16 is formed. The underwater vehicle 30 is taken over a line 32 by the receiving means 18 of the surface vehicle 10. The gripping of the line 32 can be simplified or improved when the line 32 is stretched over a buoy 34 upwards. The operation when recovering or generally when picking up the underwater vehicle is explained below with reference to FIGS. 2a to 2d in detail.

2a shows the autonomous underwater vehicle 30 in submarine operation spaced from the surface vehicle 10. As can be seen, in the underwater vehicle 30, the buoy indicated by the reference numeral 34 is not decoupled yet. With regard to the surface vehicle 10, it should be noted that here the deflector 14 is still folded in, so that the secondary floating body 6 is folded onto the main floating body in order, for example, to improve the maneuverability and to reduce the water resistance.

In Fig. 2b, both the autonomous underwater vehicle 30 and the surface vehicle 10 will now be prepared for the upcoming mountain maneuver. For this purpose, in the underwater vehicle 30, the buoy 34 is dropped or notched so that it drives to the surface 20 and the line 32 spans accordingly. The triggering of the buoy 34 is usually possible while driving with a preloaded spring and a bracket. The holder is released, z. B. by a wire is corroded under tension and a bolt is released. Alternatively, the release can be carried out by a servo motor or a length adjuster. The buoy 34 can be triggered autonomously or via a remote control, for. B. via radio, WLAN or acoustic signal transmission through the water. An alternative variant of the releasable buoy is the ejectable buoy, which is arranged for example in the form of a so-called pop-off nose on the underwater vehicle 30. The pop-off nose separates from the AUV 30 as it penetrates the water surface 20.

At about the same time (ie parallel to or shortly before or shortly after), then the boom 14 of the surface vehicle is then folded so that the secondary float 16 or in particular the receiving means 18 are spaced. In a next step, the surface vehicle 10 is maneuvered toward the underwater vehicle 30 or, in particular, the buoy 34 such that the leash 32 or the buoy 34 can be grasped by means of the receiving means 18, for example. This step is shown in Fig. 2c. For example, as can be seen, the maneuvering is done such that the buoy 34 is located in the space between the two floats 12 and 16, or it is generally the case that the line 32 gets in the vicinity of the boom 18. In the next step, the line 32 is then gripped by means of the boom 18. This step is shown in Fig. 2d. The gripping takes place, for example, in such a way that the gripping means 18 designed, for example, as a bar or leash, can grip the line 32 with an anchor, hook or snap hook located at the bottom in the water. According to embodiments, these gripping means 18 can always be in the water, be unfolded by folding out the jib 14 or be lowered separately (only for the mountain maneuver). The surface vehicle / UPS 10 then travels with deployed receiving means over the line 32 stretched between the AUV 30 and the buoy 34 so that the anchor of the surface vehicle 10 catches in the line. According to an embodiment here is also a lock, z. B. in the case of a snap hook, possible. In the prior art, there are some approaches for such locking mechanisms, such. B. published by Woods Hole Ocean Graphics.

In this approach, the risk that the line 32 between buoy 34 and AUV 30 entangled in the propeller drive of the UPS 10 is significantly reduced because the UPS or main hull 12 far enough away from AUV 30 and buoy 34 moves so that no tangling possible is, while still using the anchor rod or anchor line 18, the line can be caught.

According to preferred embodiments, the surface vehicle 10 is provided with a receiving device, e.g. As hydrophones or radio receiver to the corresponding CPU for position determination based on the received signal or the received signals so that it can use a transmitted signal of the underwater vehicle 30 and buoy 34 for determining the position of a reading unit. At this point it should be noted that the buoy, for example, then the corresponding counterpart, ie, a transmitter, z. B. in the form of an acoustic pinger, Wi-Fi or satellite uplink includes. These position determining means are particularly important for the step illustrated in Fig. 2b since the surface vehicle can thus determine the position to which it is to maneuver. In this case, the position-determining means can be supplemented by a controller, so that they can maneuver the preferably self-propelled surface vehicle O accordingly (lay rudder and drive). Preferably, but not necessarily, it is assumed that the UPS is typically an unmanned surface vehicle that can either operate autonomously or be remotely controlled. Starting from the step shown in Fig. 2d, the corresponding further embodiments may be possible that the leash, z. B. is caught up with a winch, so that the AUV 30 is coupled directly to the UPS or even this is taken. A recording of the AUV 30 in the UPS 10 is for example possible if the UPS 10 is designed as a so-called SWATH with two hulls. Here, the AUV is pulled into a cage or on a net (between the two hulls of the UPS 10). After the recovery operation, the UPS 10 moves with the fixed AUV 30 to a mothership or the shore and can be, for example, even commercially salvaged or pulled by means of a crane with hooks or jaws. According to another variant, it would be conceivable that the UPS 10 remains at sea. It is advantageous according to the embodiment, when the UPS 10 means for power supply, such. B. in an energy harvester in the form of solar cells, Wellenenergiew- ler or a wind turbine so that it can be used over weeks, months or years unmanned at sea. According to further embodiments, it would also be conceivable that the UPS 10 or any USV is designed as a so-called semi-submersible so that it can dive in storm and z. B. five meters below the water surface 20 in calm water until the storm is over. In this respect, the UPS 10 can act independently of the mothership.

Referring to FIG. 1, it should be noted that the unfolding has been described herein as a lateral deployment, ie, that the boom 14 and thus also the second float 16 move parallel to the water surface. Conceivable would be different trajectories, z. B. a circular path around a circular joint or in combination with a displacement of the Nebenschwimmers along the main float. Alternatively, such a movement path would be conceivable, according to which first an inclination of the deflector takes place on the main floating body and then the Nebenschwimmkörper or generally the element, which carry the means for recording, are moved backwards, so that for example in the case of a Zweirumpfkonzepts the AUV can be fed into the UPS. At this point it should also be noted that, of course, any other deflection movements, z. B. upwards (out of the water) or forward would be useful. The pivoting can be supported according to embodiments by a pivoting and / or locking mechanism which connects the boom with the main floating body and is designed to swing away the Nebenschwimmkörper of the main floating body or hinzuschwenken to the main floating body and / or to fix the boom in the pivoted and / or folded position. The deflection movement can for example be operated by a motor or controlled by means of locking. In this case, for example, unfolding and folding can take place in that a release of the deflector takes place and the main floating body is controlled by a motor in such a direction that the deflector is folded in and out.

In one embodiment, a system comprising a UPS and AUV described above provides.

According to a further embodiment, a method is provided, as has been explained in particular with reference to FIGS. 2a to 2d.

Although some aspects have been described in the context of a device, it will be understood that these aspects also constitute a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device. Some or all of the method steps may be performed by a hardware device (or using a Hardware apparatus), such as a microprocessor, a programmable computer or an electronic circuit. In some embodiments, some or more of the most important method steps may be performed by such an apparatus.

Claims

claims

An autonomous surface vehicle (10) for receiving an underwater vehicle (30), comprising: a main floating body (12); a pivot arm (14); and

Means (18) for receiving the underwater vehicle (30) which are spaced from the main floating body (12) via the pivotal arm (14).

Autonomous surface vehicle (10) according to claim 1, wherein the main floating body (12) is motor driven.

An autonomous surface vehicle (10) according to claim 1 or 2, comprising a secondary floating body (16) connected to the main floating body (12) via the pivotal arm (14).

An autonomous surface vehicle (10) according to any one of the preceding claims, wherein the pivot arm (14) is pivotally or motor-pivotable; and / or wherein the pivoting arm (14) is connected to the main floating body (12) via a pivoting and / or locking mechanism, the pivoting and / or locking mechanism being configured to pivot the sub-floating body (16) away from the main floating body (12) pivot to the main floating body (12) and / or fix in the swung-out position.

An autonomous surface vehicle (10) according to any one of the preceding claims, wherein the pivot arm (14) is adapted to be folded in an unlocked state as a result of travel through the water (20) of the main float body (12). An autonomous surface vehicle (0) according to any one of the preceding claims, wherein the means (18) for receiving are located below the surface of the water.

An autonomous surface vehicle (10) according to any one of the preceding claims, wherein the means (18) for receiving comprises a hook for a driving line (32) of the underwater vehicle (30).

An autonomous surface vehicle (10) according to any one of the preceding claims, wherein the means (18) for receiving comprises a rod projecting into the water (20) or a line (32) floating under water (20).

An autonomous surface vehicle (10) according to any one of the preceding claims, wherein the means (18) for receiving a winch or other means (18) for retrieving the underwater vehicle (30).

An autonomous surface vehicle (10) according to any one of the preceding claims, wherein the surface vehicle (10) comprises a receiver adapted to receive a signal from the underwater vehicle (30) or a buoy (34) connected to the underwater vehicle (30) in order to locate the underwater vehicle (30) or the buoy (34) connected to the underwater vehicle (30) and thus obtain a position signal for the underwater vehicle (30) or the buoy (34) of the underwater vehicle (30).

1 1. A surface autonomous vehicle (10) according to any one of the preceding claims, wherein the surface vehicle (10) comprises a controller arranged to control the main motorized floating body (12) such that the surface vehicle (10) operates in response to the position signal for the vehicle Underwater vehicle (30) or for the buoy (34) is maneuvered.

An autonomous surface vehicle (10) according to any of the preceding claims, wherein the main floating body (12) comprises a double hull and / or wherein the main floating body (12) comprises a double hull with a space and the space is formed to receive the underwater vehicle (10) , An autonomous surface vehicle (10) according to any one of the preceding claims, wherein the surface vehicle (10) is adapted to submerge below the water surface.

An autonomous surface vehicle (10) according to any one of the preceding claims, wherein the surface vehicle (10) is autonomous and / or comprises means (18) for generating energy.

An autonomous surface vehicle (0) according to any one of the preceding claims, wherein the main motorized floating body (18) comprises a jet propulsion system.

An autonomous surface vehicle (10) system according to any one of the preceding claims and an autonomous underwater vehicle (30) comprising a drop-down buoy (34) connected to the autonomous underwater vehicle (30) via a line (32), wherein the means (18) for receiving the underwater vehicle (30) are adapted to engage the line (32) between the buoy (34) and the autonomous underwater vehicle (30).

A method of recovering an autonomous underwater vehicle (30) having a detachable or releasable buoy (34) connected to the autonomous underwater vehicle (30) via a line (32) using an autonomous surface vehicle (10) according to any of claims 1 to 15, with the following steps:

Discarding or disengaging the ejectable or releasable buoy (34);

Swiveling the swivel arm (14);

Maneuvering the surface vehicle (10) to the buoy (34); and

Engaging the means (18) for receiving the underwater vehicle (30) with the leash (32) of the underwater vehicle (30).