Device and method for receiving an underwater vehicle

Abstract

A system comprising an autonomous surface vehicle (10) for receiving an underwater vehicle (30) and an autonomous underwater vehicle (30) comprising a launchable or releasable buoy (34) connected to the autonomous underwater vehicle (30) via a line (32), wherein the autonomous surface vehicle (10) has the following features: a main floating body (12); a swivel arm (14); and Means (18) for receiving the underwater vehicle (30) which are spaced from the main floating body (12) via the pivot arm (14); 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); characterized in that the pivot arm (14) is designed to be folded in an unlocked state as a result of travel through the water (20) of the main floating body (12); and / or wherein the surface vehicle (10) is designed to submerge below the water surface.

Description

[0001] Embodiments of the present invention relate to an autonomous surface vehicle for picking up an underwater vehicle, as well as to a system comprising a surface vehicle and an underwater vehicle. Another embodiment relates to a method for recovering an autonomous underwater vehicle.

[0002] Underwater vehicles or autonomous underwater vehicles (AUVs) can be recovered in a variety of ways. A common method for recovering an underwater vehicle can be described as follows: When the underwater vehicle surfaces, a small buoy detaches from the vehicle and is connected to the AUV via a line while floating on the surface. This is disclosed, for example, in WO 2014 / 173392 A1. Typically, after the AUV surfaces and the buoy is released with a harpoon, a grappling hook with a second line is shot from the ship over the line between the AUV and the buoy and then slowly pulled back to grab the line between the buoy and the AUV. The line becomes entangled with the grappling hook, allowing the buoy to be pulled on board. The harpoon is necessary because it can prevent the line from being pulled into the propeller drive. This procedure is highly error-prone and extremely time-consuming.In addition, reference is also made to EP 2 739 524 B1.

[0003] Another known variant from the state of the art is the so-called Caliste concept from ifremer. This describes a launching and recovery system that comprises a cage floating freely in the water, secured only with a rope. This approach is explained, for example, in WO 2008 / 012 473 A1. The constant connection to the mother ship results in limitations in terms of user-friendliness and flexibility. Furthermore, reference is made to patent application DE 10 2011 109 092 A1, which shows a system and method for recovering an underwater vehicle. US Pat. No. 6,457,432 B2 discloses a self-propelled device for gripping, mooring, and moving an underwater vehicle or the like.

[0004] DE 25 33 600 B2 describes a vehicle with a device for retrieving a buoy and anchoring at sea. WO 2014 / 173 392 A1 describes an autonomous underwater vehicle and a method for retrieving such a vehicle. Furthermore, DE 601 01 279 T2 shows a self-propelled device for gripping, mooring, and moving an underwater vehicle or the like. Furthermore, reference is also made to publications with the publication numbers US 2013 / 0 025 521 A1, US 2013 / 0 068 153 A1, WO 2015 / 049 679 A1, WO 2017 / 086 780 A1, and WO 2016 / 037 733 A1, all of which originate from the technical field of watercraft or underwater vehicles and corresponding recovery devices.

[0005] There is a need for an improved approach.

[0006] The object of the present invention is to create an improved concept for recovering underwater vehicles, in particular autonomous underwater vehicles.

[0007] The problem is solved by the independent patent claims.

[0008] According to one embodiment of the present invention, an autonomous surface vehicle for receiving an underwater vehicle is used in a system comprising a (e.g., motor-driven) floating body, a pivoting arm / boom, and an optional secondary floating body connected to the main floating body via the pivoting arm / boom. Additionally, the surface vehicle comprises means for receiving the underwater vehicle, connected, for example, to the pivoting arm or the secondary floating body, which are spaced from the main floating body via the pivoting arm.

[0009] An embodiment relates to the system with a surface vehicle and an underwater vehicle as defined in claim 1.

[0010] Embodiments of the present application are therefore based on the finding that an underwater vehicle can be grasped, for example by a line, via receiving means such as a hook that protrudes from the surface vehicle (USV, Unmanned Surface Vehicle) into the water via a boom that protrudes laterally, for example. By spacing the receiving means and the (motor-driven) main hull of the USV, the risk of the line becoming caught in the ship's propeller is reduced. Furthermore, the fact that the surface vehicle can be driven and maneuvered independently can significantly improve the ergonomics of the recovery process. Since, according to a preferred variant, the surface vehicle operates autonomously, user comfort is further increased. According to further embodiments, the risk of entanglement can be further reduced by using a jet propulsion system.

[0011] According to embodiments, the means for picking up the underwater vehicle are designed below the water surface, e.g., one or more meters below the water surface. For example, a hook or a line floating underwater can be used. Since the buoy floats on the surface and the line consequently extends downwards at an angle to the underwater vehicle, such an arrangement enables reliable gripping of the line. According to a further embodiment, a winch can be provided, so that by means of this winch, after the line has been picked up or, in general, after the underwater vehicle has been gripped, the underwater vehicle can be pulled towards the surface vehicle or loaded.

[0012] According to one embodiment, the main floating body of the surface vehicle comprises a so-called double hull, optionally also with a space between the two hulls of the double hull, into which the underwater vehicle can be retrieved.

[0013] According to embodiments, the swivel arm can be swung out to the side, for example by motor, or can be swiveled in general. In the preferred case, the swiveling (e.g. laterally) takes place to the side. The swiveling follows the idea that the secondary floating body is arranged at a distance when traveling through the water, but can be folded against the main floating body in order to improve maneuverability and water resistance. Swiveling away can take place either by swiveling out of the water or parallel to the main floating body. In addition to active motor-driven swiveling, swiveling can be realized, for example, in such a way that the swiveling away takes place, for example, by disengaging the boom or a locking mechanism with which the boom is fixed relative to the main floating body, so that the swivel arm is folded against the main floating body when traveling through the water.

[0014] According to a further embodiment, 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, so that the surface vehicle can locate the underwater vehicle. According to further embodiments, depending on the location of the underwater vehicle, the surface vehicle can be maneuvered toward the underwater vehicle or the buoy of the underwater vehicle. Here, control is preferably performed such that the surface vehicle is positioned relative to the buoy in such a way that the line between the buoy and the underwater vehicle can be retrieved.

[0015] Since, as explained above, the surface vehicle can operate autonomously, according to another embodiment, it can be equipped with energy generation, such as solar cells or other energy harvesters, to extend its operational duration (on the high seas, for example). This approach is transferable to any unmanned aerial vehicle (UPS). To be able to sink on the high seas even in storms or to avoid returning to the mother ship in storms, it is conceivable according to embodiments for the surface vehicle to include a diving function, allowing it to submerge below the water surface to be protected from the storm.

[0016] Another embodiment relates to a system comprising a corresponding surface vehicle and an autonomous underwater vehicle, which comprises a releasable or detachable buoy connected to the autonomous underwater vehicle via a tether. As already explained above, the means for receiving the underwater vehicle in this case are designed to grip the tether between the buoy and the autonomous underwater vehicle.

[0017] An additional embodiment provides a method for recovering an autonomous underwater vehicle with a releasable or detachable buoy, which is connected to the autonomous underwater vehicle via a tether. This method includes the following steps: "delivering or detaching the releasable or detachable buoy," "swinging out the swivel arm," "maneuvering the surface vehicle toward the buoy," and "engaging the means for picking up the underwater vehicle with the tether of the underwater vehicle."

[0018] Further developments are defined in the subclaims. Embodiments of the present invention are explained below with reference to the accompanying drawings. They show: Fig. 1a is a schematic representation of a surface vehicle according to an embodiment; Fig. 1b a schematic representation of the surface vehicle from Fig. 1 together with an autonomous underwater vehicle to be recovered according to a further embodiment; and Fig. 2a-2d schematic representations of a surface vehicle in combination with an underwater vehicle during the recovery process according to a further embodiment.

[0019] Before exemplary embodiments of the present invention are explained below 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 can be applied or exchanged.

[0020] Fig. Figure 1a shows a surface vehicle 10 with a main floating body 12, which here is designed as the hull of the surface vehicle 10. A boom 14 protrudes from the main floating body 12. This boom 14, e.g., in the form of a boom or mast, is designed to be pivotable. To ensure that the boom 14, especially when unfolded, does not cause excessive tilting of the main floating body 12, a secondary floating body 16, e.g., a small pontoon, is provided at the end of the boom 14 and floats on the water surface. This float 16 ensures that the mast 14, regardless of its length or weight, does not place excessive lateral load on the USV.

[0021] In correspondingly preferred embodiments, the surface vehicle 10 can be motor-driven, wherein in this embodiment it is assumed that the main floating body 12 is provided with a motor and a drive screw 17 or a jet drive. So-called means for receiving an underwater vehicle are arranged remotely from the main floating body 12, or in particular remotely from the motor. These means for receiving the underwater vehicle are provided with the reference numeral 18. This arrangement is realized by providing these means 18, for example, on the boom 14 or the secondary floating body 16. The purpose of the remote arrangement is to avoid a collision or mutual interference between the drive 17 and an underwater vehicle to be accommodated.In this exemplary embodiment, the receiving means 18 are implemented, for example, by a catch hook arranged underwater, which protrudes below the water surface via a rod. The hook can, for example, engage a line of an underwater vehicle, in particular an autonomous underwater vehicle.

[0022] This process or the interaction with the underwater vehicle is described with reference to Fig. 1b explained. Fig. 1b shows the underwater vehicle 10 floating on the water surface 20, with an engagement between the upper water vehicle 10 and an underwater vehicle 30. The surface vehicle 10 floats on the water surface with the two floating bodies 12 and 16, with the secondary floating body 16 folded out to the side via the boom 14, creating a gap between the floating bodies 12 and 16. The underwater vehicle 30 is grasped by the receiving means 18 of the surface vehicle 10 via a line 32. Gripping the line 32 can be simplified or improved if the line 32 is tensioned upwards via a buoy 34.

[0023] The process of recovering or generally picking up the underwater vehicle is described below with reference to Fig. 2a to 2d are explained in detail.

[0024] Fig. Figure 2a shows the autonomous underwater vehicle 30 in subsea operation, separated from the surface vehicle 10. As can be seen, the buoy designated by reference numeral 34 has not yet been detached from the underwater vehicle 30. Regarding the surface vehicle 10, it should be noted that the deflector 14 is still folded in, so that the secondary buoyancy body 16 is folded against the main buoyancy body, for example, to improve maneuverability and reduce water resistance.

[0025] In Fig. 2b, both the autonomous underwater vehicle 30 and the surface vehicle 10 are now prepared for the upcoming recovery maneuver. For this purpose, the buoy 34 on the underwater vehicle 30 is released or unlatched so that it floats to the surface 20 and tensions the line 32 accordingly. The buoy 34 can usually be released while underway using a pre-tensioned spring and a holder. The holder is released, e.g., by corroding a wire under tension and releasing a latch. Alternatively, the release can be achieved by a servo motor or a length adjuster. The buoy 34 can be released autonomously or via remote control, e.g., via radio, WLAN, or acoustic signal transmission through the water. An alternative variant to the releasable buoy is the jettisonable buoy, which is arranged on the underwater vehicle 30, for example, in the form of a so-called pop-off nose.The pop-off nose separates from the AUV 30 when it penetrates the water surface 20.

[0026] At approximately the same time (i.e. parallel to this or shortly before or shortly after), the boom 14 of the surface vehicle is then also folded down so that the secondary float 16 and in particular the receiving means 18 are spaced apart.

[0027] In a next step, the surface vehicle 10 is maneuvered towards the underwater vehicle 30 or in particular the buoy 34 in such a way that, for example, the line 32 or the buoy 34 can be grasped by means of the receiving means 18. This step is described in Fig. 2c. As can be seen, the maneuvering occurs, for example, such that the buoy 34 is located in the space between the two floating bodies 12 and 16, or, in general, such that the line 32 comes close to the boom 18.

[0028] In the next step, the line 32 is then grasped by means of the boom 18. This step is in Fig. 2d. The gripping takes place, for example, in such a way that the gripping means 18, designed, for example, as a pole or line, can grasp the line 32 with an anchor, hook, or snap hook located below the water. According to exemplary embodiments, these gripping means 18 can always be in the water, be unfolded by unfolding the boom 14, or be lowered separately (only for the recovery maneuver). The surface vehicle / USV 10 then moves with the receiving means unfolded or projecting into the water over the line 32, which is stretched between the AUV 30 and the buoy 34, so that the anchor of the surface vehicle 10 becomes entangled in the line. According to one exemplary embodiment, a locking mechanism, e.g., in the case of a snap hook, is also possible. The prior art includes several approaches for such locking mechanisms, such as those published by Woods Hole Oceangraphics.

[0029] With this procedure, the risk of the line 32 between buoy 34 and AUV 30 becoming entangled in the propeller drive of the USV 10 is considerably reduced, since the USV or main hull 12 is positioned far enough away from the AUV 30 and buoy 34 so that no entanglement is possible, while the line can still be caught by means of the anchor rod or anchor line 18.

[0030] According to preferred embodiments, the surface vehicle 10 is equipped with a receiving device, e.g. hydrophones or radio receivers to the corresponding CPU for position determination based on the received signal or the received signals, so that the CPU can use a transmitted signal of the underwater vehicle 30 or buoy 34 to determine the position of a reading unit. At this point, it should be noted that the buoy then comprises, for example, the corresponding counterpart, ie a transmitter, e.g. in the form of an acoustic pinger, WLAN or satellite uplink. These position determination means are particularly suitable for the step which Fig. 2b, is important because it allows the surface vehicle to determine the position to which it is to maneuver. The positioning means can be supplemented by a control system so that it can maneuver the preferably self-propelled surface vehicle 10 accordingly (set the rudder and operate the propulsion). Preferably, but not necessarily, it is assumed that the USV is generally an unmanned surface vehicle that can either operate autonomously or is remotely controlled.

[0031] Based on the Fig. In the step illustrated in Figure 2d, it may be possible, according to further embodiments, for the line to be retrieved, e.g., with a winch, so that the AUV 30 is directly coupled to the USV or even picked up by it. Picking up the AUV 30 into the USV 10 is possible, for example, if the USV 10 is designed as a so-called SWATH with two hulls. In this case, the AUV is pulled into a cage or onto a net (between the two hulls of the USV 10).

[0032] After the recovery operation, the USV 10 travels with the fixed AUV 30 to a mother ship or to the shore and can, for example, be commercially recovered or towed itself using a crane with a hook or clamping jaws. According to a further variant, it would be conceivable for the USV 10 to remain at sea. In this case, according to the exemplary embodiment, it is advantageous if the USV 10 has means for supplying power, such as an energy harvester in the form of solar cells, wave energy converters, or a wind turbine, so that it can be used unmanned at sea for weeks, months, or years. According to further exemplary embodiments, it would also be conceivable for the USV 10 or any USV to be designed as a so-called semi-submersible so that it can submerge during a storm and remain, for example, five meters below the water surface 20 in calm water until the storm is over. In this respect, the USV 10 can operate independently of the mother ship.

[0033] Referring to Fig. 1, it should be noted that the unfolding was described here as a lateral unfolding, i.e. that the boom 14 and thus also the second float 16 move parallel to the water surface. Different trajectories are conceivable, e.g. a circular trajectory around a circular joint or in combination with a displacement of the secondary float along the main float. Alternatively, a trajectory could also be conceivable in which the outrigger is first folded onto the main floating body and then the secondary floating body or, in general, the element carrying the means for receiving is moved rearward so that, for example, in the case of a twin-hull concept, the AUV can be retracted into the USV. It should also be noted at this point that, of course, any other deflection movements, e.g. upwards (out of the water) or forwards, would also be useful.According to embodiments, the pivoting can be supported by a pivoting and / or locking mechanism which connects the boom to the main floating body and is designed to pivot the secondary floating body away from the main floating body or towards the main floating body and / or to fix the boom in the pivoted-out and / or folded-in position.

[0034] The deflection movement can be motor-operated, for example, or controlled by a locking mechanism. In this case, the folding and unfolding can be achieved by releasing the deflector and then motor-controlled to move the main float in such a direction that the deflector is folded in and out.

[0035] In one embodiment, a system comprising a USV and AUV as described above is provided.

[0036] According to a further embodiment, a method is created as it is particularly with regard to Fig. 2a to 2d.

[0037] Although some aspects have been described in the context of a device, it should be understood that these aspects also represent a description of the corresponding method, so that a block or component of a device can also be understood as a corresponding method step or as a feature of a method step. Analogously, aspects described in the context of or as a method step also represent a description of a corresponding block, detail, or feature of a corresponding device. Some or all of the method steps may be performed by (or using) a hardware apparatus, such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or more of the key method steps may be performed by such an apparatus.

Claims

[1] System comprising an autonomous surface vehicle (10) for receiving an underwater vehicle (30) and an autonomous underwater vehicle (30) comprising a launchable or releasable buoy (34) connected to the autonomous underwater vehicle (30) via a line (32), wherein the autonomous surface vehicle (10) has the following features: a main floating body (12); a swivel arm (14); and Means (18) for receiving the underwater vehicle (30) which are spaced from the main floating body (12) via the pivot arm (14); 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); characterized byin that the pivot arm (14) is designed to be folded in an unlocked state as a result of travel through the water (20) of the main floating body (12); and / or wherein the surface vehicle (10) is designed to submerge below the water surface. [2] System according to claim 1, wherein the main floating body (12) is motor-driven. [3] System according to claim 1 or 2, comprising a secondary floating body (16) connected to the main floating body (12) via the pivot arm (14). [4] System according to one of the preceding claims, wherein the pivot arm (14) is pivotable or motor-pivotable; and / or wherein the pivot arm (14) is connected to the main floating body (12) via a pivoting and / or locking mechanism, wherein the pivoting and / or locking mechanism is designed to pivot the secondary floating body (16) away from the main floating body (12) and towards the main floating body (12) and / or to fix it in the pivoted-out position. [5] System according to one of the preceding claims, wherein the means (18) for receiving are arranged below the water surface. [6] System according to one of the preceding claims, wherein the means (18) for receiving comprise a hook for a drifting line (32) of the underwater vehicle (30). [7] System according to one of the preceding claims, wherein the means (18) for receiving comprise a pole projecting into the water (20) or a line (32) floating under water (20). [8] System according to one of the preceding claims, wherein the means (18) for receiving a winch or other means (18) for retrieving the underwater vehicle (30) comprise. [9] System according to one of the preceding claims, wherein the surface vehicle (10) comprises a receiver configured 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). [10] System according to one of the preceding claims, wherein the surface vehicle (10) comprises a controller configured to control the motor-driven main floating body (12) such that the surface vehicle (10) is maneuvered in dependence on the position signal for the underwater vehicle (30) or for the buoy (34). [11] System according to one 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 between them and the space between them is designed to accommodate the underwater vehicle (10). [12] System according to one of the preceding claims, wherein the surface vehicle (10) is autonomous and / or comprises means (18) for generating energy. [13] System according to one of the preceding claims, wherein the motor-driven main floating body (18) comprises a jet propulsion system. [14] A method for recovering an autonomous underwater vehicle (30) using a system according to any one of the preceding claims, comprising the following steps: Launching or releasing the launchable or releasable buoy (34); Swinging out 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 line (32) of the underwater vehicle (30); Folding the main buoyancy body (12) in an unlocked state as a result of traveling through the water (20); and / or submerging the surface vehicle (10) to descend below the water surface.

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