WO2018224207A1 - Dispositif et procédé pour loger un navire submersible - Google Patents

Dispositif et procédé pour loger un navire submersible Download PDF

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Publication number
WO2018224207A1
WO2018224207A1 PCT/EP2018/059673 EP2018059673W WO2018224207A1 WO 2018224207 A1 WO2018224207 A1 WO 2018224207A1 EP 2018059673 W EP2018059673 W EP 2018059673W WO 2018224207 A1 WO2018224207 A1 WO 2018224207A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
autonomous
underwater vehicle
floating body
buoy
Prior art date
Application number
PCT/EP2018/059673
Other languages
German (de)
English (en)
Inventor
Gunnar Brink
Original Assignee
Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
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 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. filed Critical Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Publication of WO2018224207A1 publication Critical patent/WO2018224207A1/fr
Priority to NO20191479A priority Critical patent/NO20191479A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • 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
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • 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 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.
  • 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.
  • 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.
  • EP 2739524 B1 is also made to EP 2739524 B1.
  • 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.
  • the surface vehicle includes z. B. on the swing arm or on the Mauschwimmoasa 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.
  • 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.
  • the surface vehicle acts autonomously, the user comfort is further increased.
  • the risk of entanglement can be further reduced by using a jet propulsion system.
  • the means for recording under the water surface, z. B. executed one or more meters below the water surface.
  • 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.
  • 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.
  • 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.
  • the pivot arm, z. B. swinging out of the way to the side or generally swivel.
  • pivoting e.g., lateral
  • 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.
  • 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 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.
  • the maneuvering of the surface vehicle to the underwater vehicle or the buoy of the underwater vehicle take place.
  • 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.
  • 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.
  • energy generation such as, for example, energy generation.
  • solar cells or other energy harvester to extend the service life (on the high seas, for example).
  • This approach is transferable to any UPS.
  • 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.
  • 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.
  • 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 ".
  • 1 a is a schematic representation of a surface vehicle according to a
  • FIG. 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
  • 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 Mauschwimmoasa 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 Mauschwimmoasa 16. The remote arrangement has the purpose of avoiding a collision or mutual influence of the drive 17 with a marine submersible.
  • 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.
  • FIG. 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 Mauschwimmoasa 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.
  • FIG 2a shows the autonomous underwater vehicle 30 in submarine operation spaced from the surface vehicle 10.
  • the buoy indicated by the reference numeral 34 is not decoupled yet.
  • 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.
  • both the autonomous underwater vehicle 30 and the surface vehicle 10 will now be prepared for the upcoming mountain maneuver.
  • 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.
  • 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.
  • 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.
  • Fig. 2c 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.
  • 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.
  • 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.
  • z. B. in the case of a snap hook, possible.
  • there are some approaches for such locking mechanisms such. B. published by Woods Hole Ocean Graphics.
  • 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.
  • 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.
  • 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.
  • 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).
  • the UPS is typically an unmanned surface vehicle that can either operate autonomously or be remotely controlled.
  • 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.
  • the AUV is pulled into a cage or on a net (between the two hulls of the UPS 10).
  • 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.
  • 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, Wellenenergyw- ler or a wind turbine so that it can be used over weeks, months or years unmanned at sea.
  • 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.
  • the UPS 10 can act independently of the mothership.
  • 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 Mauschwimm emotions of the main floating body orstructureschwenken 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.
  • a system comprising a UPS and AUV described above provides.
  • 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.

Abstract

L'invention concerne un bâtiment de surface autonome destiné à loger un navire submersible, ledit bâtiment de surface autonome comprenant un corps flottant principal (12) ainsi qu'un bras pivotant (14). Ledit corps flottant principal comprend également des moyens (18) pour loger le navire submersible, lesquels sont mis à distance du corps de flottant principal (12) par l'intermédiaire du bras pivotant (12).
PCT/EP2018/059673 2017-06-06 2018-04-16 Dispositif et procédé pour loger un navire submersible WO2018224207A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
NO20191479A NO20191479A1 (en) 2017-06-06 2019-12-13 Apparatus and Method for Receiving an Underwater Vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017209514.8A DE102017209514A1 (de) 2017-06-06 2017-06-06 Vorrichtung und Verfahren zum Aufnehmen eines Unterwasserfahrzeugs
DE102017209514.8 2017-06-06

Publications (1)

Publication Number Publication Date
WO2018224207A1 true WO2018224207A1 (fr) 2018-12-13

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PCT/EP2018/059673 WO2018224207A1 (fr) 2017-06-06 2018-04-16 Dispositif et procédé pour loger un navire submersible

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DE (1) DE102017209514A1 (fr)
NO (1) NO20191479A1 (fr)
WO (1) WO2018224207A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115180074A (zh) * 2022-08-24 2022-10-14 青岛泰戈菲斯海洋装备股份公司 一种释放脱钩机构及无线遥控释放钩系统

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FR3074473A1 (fr) * 2017-12-06 2019-06-07 Cgg Services Sas Procede de recuperation de dispositifs flottants et dispositif flottant associe
CN114455034B (zh) * 2021-12-27 2023-07-14 宜昌测试技术研究所 一种实现水下无人航行器快速捕捉牵引的装置

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WO2008012473A1 (fr) 2006-07-26 2008-01-31 Ifremer-Institut Francais De Recherche Pour L'exploitation De La Mer Installation et procede de recuperation d'un engin sous-marin ou marin
US20130068153A1 (en) * 2011-09-15 2013-03-21 Liquid Robotics Inc. Wave-powered endurance extension module for unmanned underwater vehicles
EP2610163A1 (fr) * 2011-12-27 2013-07-03 ATLAS Elektronik GmbH Dispositif de récupération et procédé de récupération pour la récupération de matières condensées se trouvant à la surface de l'eau, notamment un véhicule sousmarin sans équipage
WO2014173392A1 (fr) 2013-04-26 2014-10-30 Atlas Elektronik Gmbh Véhicule submersible autonome, et procédé pour haler un tel véhicule submersible
WO2015049679A1 (fr) * 2013-10-01 2015-04-09 Israel Aerospace Industries Ltd. Système et procédé de lancement et de récupération
EP2739524B1 (fr) 2011-08-01 2015-11-25 ATLAS Elektronik GmbH Système et procédé de récupération d'un engin submersible
WO2016037733A1 (fr) * 2014-09-12 2016-03-17 Thyssenkrupp Marine Systems Gmbh Système de véhicules avec un navire-mère et un navire sans équipage et procédé pour remonter hors de l'eau un navire sans équipage
WO2017086780A1 (fr) * 2015-11-17 2017-05-26 Fugro N.V. Procédé et système pour tracter une unité d'équipement marin, unité d'équipement marin, et support

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NO143617C (no) * 1974-08-16 1981-03-18 Mcdermott & Co Inc J Ray Motordrevet fartoey med optagningsanordning for opptagning av en flytende boeye eller lignende gjenstand
IT1316771B1 (it) * 2000-02-18 2003-05-12 Calzoni Spa Apparecchiatura a propulsione autonoma per la presa,il bloccaggio e la movimentazione di veicoli subacquei e simili

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008012473A1 (fr) 2006-07-26 2008-01-31 Ifremer-Institut Francais De Recherche Pour L'exploitation De La Mer Installation et procede de recuperation d'un engin sous-marin ou marin
EP2739524B1 (fr) 2011-08-01 2015-11-25 ATLAS Elektronik GmbH Système et procédé de récupération d'un engin submersible
US20130068153A1 (en) * 2011-09-15 2013-03-21 Liquid Robotics Inc. Wave-powered endurance extension module for unmanned underwater vehicles
EP2610163A1 (fr) * 2011-12-27 2013-07-03 ATLAS Elektronik GmbH Dispositif de récupération et procédé de récupération pour la récupération de matières condensées se trouvant à la surface de l'eau, notamment un véhicule sousmarin sans équipage
WO2014173392A1 (fr) 2013-04-26 2014-10-30 Atlas Elektronik Gmbh Véhicule submersible autonome, et procédé pour haler un tel véhicule submersible
WO2015049679A1 (fr) * 2013-10-01 2015-04-09 Israel Aerospace Industries Ltd. Système et procédé de lancement et de récupération
WO2016037733A1 (fr) * 2014-09-12 2016-03-17 Thyssenkrupp Marine Systems Gmbh Système de véhicules avec un navire-mère et un navire sans équipage et procédé pour remonter hors de l'eau un navire sans équipage
WO2017086780A1 (fr) * 2015-11-17 2017-05-26 Fugro N.V. Procédé et système pour tracter une unité d'équipement marin, unité d'équipement marin, et support

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115180074A (zh) * 2022-08-24 2022-10-14 青岛泰戈菲斯海洋装备股份公司 一种释放脱钩机构及无线遥控释放钩系统

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Publication number Publication date
NO20191479A1 (en) 2019-12-13
DE102017209514A1 (de) 2018-05-17

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