underwater vehicle

Abstract

Underwater vehicle (12) with a frame (01) for fastening components with at least four vertical fastening rods (02), which are arranged opposite one another in pairs on the outside of the frame (02) and between which buoyancy bodies (07) can be fastened, wherein the underwater vehicle (12) defines a center of gravity (09) under water through its weight and a center of buoyancy (08) through arranged buoyancy bodies (07), characterized in that the vertical fastening rods (02) have a first fastening section (05) in an upper region (04) and a second fastening section (11) in a middle region (10), in which only the buoyancy bodies (07) can be arranged alternatively,wherein, when the buoyancy bodies (07) are arranged in the first fastening section (05), the center of buoyancy (08) lies above the center of gravity (09) and, when the buoyancy bodies (07) are arranged in the second fastening section (11), the center of buoyancy (08) lies on the center of gravity (09).

Description

[0001] The innovation relates to an underwater vehicle with a frame for fastening components with at least four vertical fastening rods which are arranged opposite one another in pairs on the outside of the frame and between which buoyancy bodies can be fastened, wherein the underwater vehicle defines a center of gravity under water through its weight and a center of buoyancy through arranged buoyancy bodies.

[0002] Smaller underwater vehicles are unmanned and are used either for observation (and sampling) underwater ("observation class") or for performing work in the water column or on the waterbed ("work class"). They always have a frame to which various components can be mounted. For observation, these are primarily measuring instruments and lighting units. For work, various manipulators and tools can be mounted on the frame. The underwater vehicles can either be passively towed behind a ship on a cable or actively operate in the water. In this case, they have their own propulsion, usually several thrusters, and are remotely controlled via a cable.Such underwater vehicles are referred to as "autonomous underwater vehicle" (AUV, without tethered connection) or "remotely operated vehicle" (ROV with tethered connection to a ship, platform, or similar). Terms such as "diving robot" or "underwater drone" are also used. In the following, reference is made to an ROV, but the explanations apply equally to a manned or unmanned AUV.

[0003] In operation, an ROV is subject to buoyancy and a maximum of six degrees of freedom in the water column. In addition to vertical movement (heave), the ROV can also be subject to pitch, sway, roll, yaw, or surge. "Hydrostatic equilibrium" refers to vertical movement, while "transverse stability" refers to horizontal and lateral movements. In other words, the six degrees of freedom can also be used with the remotely controlled movements "forward and backward," "left and right," "up and down," and "rotation around any axis." In systems with four degrees of freedom, only rotation around the vertical axis is included in addition to linear movements. To ensure the ROV functions properly underwater, the buoyancy must be adjusted accordingly. For this purpose, buoyancy bodies are arranged on the frame.Together they define a center of buoyancy, whereas the total mass of the ROV defines a center of gravity. Depending on the relationship between the center of buoyancy and the center of gravity, the ROV can be positioned in a stable position (the center of buoyancy is above the center of gravity, four degrees of freedom) or an unstable position (the center of buoyancy and the center of gravity are congruent, six degrees of freedom). The stable position primarily enables the self-stabilizing ROV to work on the waterbed or on structures there, or at a constant height in the water column. The unstable position allows the ROV to move in all spatial directions, which is particularly advantageous for highly mobile observations and sampling, for example, under a fractured ice cover. Stable systems require less control and therefore provide more space for additional components.However, their range of applications is limited. Unstable systems require more control and have less space for additional components. However, they are more flexible and therefore have a wider range of applications.

[0004] A good overview of ROVs can be found in the book "The Maritime Engineering Reference Book," ed. by Anthony F. Molland, 2008, Chapter 10: "Underwater vehicles," pp. 728-783 (https: / / doi.org / 10.1016 / b978-0-7506-8987-8.00010-x). This innovation deals with the various options for buoyancy control of an underwater vehicle using buoyancy bodies that can be arranged on the base frame. In almost all known ROVs, the buoyancy bodies are integrated into the upper section of the frame and are surrounded or concealed by other components. Removing or modifying the buoyancy bodies, or changing their position, is difficult or requires considerable effort. State of the art

[0005] The state of the art that comes closest to the innovation is known from the publication by Biao Wang et al.: "ROV State Estimation Using Mixture of Gaussian Based on Expectation-Maximization Cubature Particle Filter" (in Appl. Sci. 2023, 13, 5885, https: / / doi.org / 10.3390 / app13105885). It shows a 3D model of an ROV with a frame consisting of four vertical mounting rods on the outside of the frame. These are arranged opposite each other in pairs. Between the mounting rods, buoyancy bodies are arranged on all four sides of the ROV and extend the entire height of the ROV. This arrangement results in an unstable position of the ROV because the center of gravity and the center of buoyancy are congruent with each other. All degrees of freedom can be assumed, making the ROV suitable for swimming in the free water column.Although all buoyancy bodies are located on the outside of the frame, they are still partially hidden by other components.

[0006] From the publication by C. Katlein et al.: "A New Remotely Operated Sensor Platform for Interdisciplinary Observation and Sea Ice" (from Frontiers in Marine Science, September 2017, Volume 4, Article 281, doi: 10.3389 / fmars.2017.00281), an observation-class ROV with a large buoyancy body on top of the frame is known. The center of gravity and the center of buoyancy are also congruent, thus achieving ROV instability with optimal mobility.

[0007] EP 0 169 219 B1 discloses an ROV which has a floodable tank on its top side for buoyancy control and a height-adjustable ballast weight on its bottom side. When the ballast weight is extended and resting on the waterbed, the ROV can operate at a constant height in the water column. When the ballast weight is only slightly heavier than the underwater device and is fully retracted, the underwater device can operate in a horizontal orientation on a towline at different heights in the water column. WO 01 / 92649 A1 discloses an ROV which has a buoyancy body on its top side. By moving the buoyancy body sideways, the tilt position of the ROV can be changed underwater. US 2011 / 094433 A1 discloses a frame with buoyancy bodies which can be moved horizontally along the frame and which can accommodate an underwater device.By moving the buoyancy bodies horizontally, the underwater device can be balanced horizontally in the water column. CN 112776963 A describes an ROV in which buoyancy bodies are arranged on the upper side of the frame. To fine-tune the buoyancy of the ROV, each buoyancy body has an insertion area on its outside into which different weights can be inserted. CN 215884033 U describes an ROV in which buoyancy bodies are arranged laterally in two rows, one above the other. To stabilize the ROV in waves on the water surface, the buoyancy bodies can be extended to different extents and their width can be adjusted.

[0008] In underwater exploration or underwater work with an ROV, different tasks must be solved. Each task presents a different degree of complexity. If, for example, only observations are made along a stretch of the seabed, a relatively simple system is sufficient, which requires little complexity in operation and can possibly even be fully automated. However, if active work is to be carried out, such as setting up equipment on the seabed, or performing maintenance or repair work, a stable but significantly more flexible system is required. The control system should not be too complex, however, as other tasks must also be completed. The third case represents the requirement for an extremely maneuverable system that can also maneuver in complex terrain or be used on walls and overhangs. This requires a high level of operating effort while at the same time being highly flexible.

[0009] To date, there has been a separate solution for all three requirements. Each device is specifically designed and optimized for its intended use. For pure observation or mapping, towed systems are used. These have a high deadweight, lack buoyancy, and are usually towed by a ship. The second case is covered by classic ROVs. These are equipped with a buoyancy body on top so that the center of buoyancy is at the top and the weight with its center of gravity is further down. This creates a moment that stabilizes the system in the water, preventing it from rotating about its longitudinal and transverse axes. The third case is served by a special type of ROV. These have buoyancy bodies on the top and bottom, which shifts the center of buoyancy to the center of the system.By shifting the center of buoyancy to the center of gravity, all rotating moments are canceled out, allowing the system to be easily moved in all directions and around all axes. This also allows vertical or overhead operation. The latter two concepts assume that the system is buoyancy-neutral in the water, meaning that it does not leave the target height in the water column, meaning it neither rises nor descends. Task

[0010] Based on the generic underwater vehicle described above, the present innovation is based on the task of further developing it so that the described, very diverse requirements can be met within a common concept. The aim is to provide an ROV with universal buoyancy options, allowing its buoyancy to be easily and quickly adapted to the respective application. The innovative solution to this problem is set out in the main claim. Advantageous further developments of the innovative underwater vehicle are set out in the subclaims. Two preferred applications are presented.

[0011] To achieve the object, it is proposed according to the invention that the vertical fastening rods have a first fastening section in an upper region and a second fastening section in a middle region, in which only the buoyancy bodies can be arranged alternatively, wherein when the buoyancy bodies are arranged in the first fastening section, the center of buoyancy lies above the center of gravity and when the buoyancy bodies are arranged in the second fastening section, the center of buoyancy lies on the center of gravity.

[0012] The new underwater vehicle features dedicated areas on the frame for the buoyancy bodies. Only the buoyancy bodies can be mounted or dismounted in these areas, greatly simplifying conversion between different applications. This allows a single system to cover the entire range of applications. It can be converted from one configuration to another with minimal effort, thus representing an economical solution for flexible work with an underwater vehicle.

[0013] Depending on the application, the system should be stable (self-stabilizing) or unstable (freely rotating, all stabilizing moments are canceled out), although it is always designed to be buoyancy-neutral. If a stable system with one degree of freedom around the vertical axis is required, the center of buoyancy must be above the center of gravity. Accordingly, the buoyancy bodies on the new underwater vehicle are arranged in a separate attachment section in an upper area of ​​the attachment rods. No other components of the underwater vehicle are provided there and do not interfere with the arrangement of the buoyancy bodies. Likewise, they do not interfere with the arrangement or functionality of other components. This is also ensured by the buoyancy bodies being arranged on the outside of the frame.This means they do not take up any space inside the frame that is intended for other components, particularly drives, lighting fixtures, and measuring devices. The working horizon of the underwater vehicle is neither installed upwards nor downwards. This is where additional components, such as cameras, sensors, and manipulators, can be installed. If an unstable system with a maximum of six degrees of freedom is required, the center of buoyancy must be at the center of gravity. Accordingly, the buoyancy bodies in the new underwater vehicle are arranged in a separate fastening section in the middle area of ​​the fastening rods. Here, too, no other components of the system are provided, so that no mutual interference can occur. This also applies to the arrangement of the buoyancy bodies on the outside of the frame.

[0014] The innovative underwater vehicle is particularly flexible in its use thanks to the defined, variable arrangement of the buoyancy bodies in various areas on the outside of the frame. Precise dimensions for the arrangement of the buoyancy bodies in an upper or middle area of ​​the buoyancy rods are not required. It is understood that the specialist will design the buoyancy bodies and their arrangement for the specific application based on the weight of the submersible and then balance them during use. To make conversion to different applications convenient for the user, it is important that the buoyancy elements can be easily attached to the frame. Simple attachments naturally include simple screws and nuts that engage through corresponding holes in the attachment rods. Simple clamps, which are also screwed on, can also be provided.Furthermore, according to a first modification of the invention, it is preferred and advantageous for the buoyancy bodies to have quick-release clamps with which they can be secured in the first or second fastening section. Clamping devices, such as those known from tool fixations, lid closures, or fastening straps, can generally be easily and reliably closed and opened manually without the need for additional tools.

[0015] Alternatively, the innovation can also preferably and advantageously provide for the buoyancy bodies to have rail runners and the fastening rods to have rails in the first fastening section and in the second fastening section, wherein the rail runners are designed to be displaceable on the rails. This allows a simple connection between the buoyancy body and the fastening rod, while still allowing the buoyancy bodies to be moved within a predetermined range for fine calibration. Furthermore, it is also advantageous and preferred if the rails extend continuously from the first fastening section into the second fastening section. The buoyancy bodies no longer have to be dismantled during conversion, but are simply moved from one position to the other. Fine calibration is then also possible.

[0016] If simple rails are provided, the buoyancy bodies can be locked in place, for example, using a simple clamp. According to a further development of the innovation, it is advantageous and preferred if the rails have at least one locking device in the first fastening section and in the second fastening section, into which the rail runners can be locked. This can be, for example, spring-loaded balls that lock into corresponding bores. Since in practice the same equipment of the underwater vehicle is often required for different applications, the different positions of the buoyancy bodies can be preset using the locking device. Finally, it is advantageous and preferred, in particular for balancing the underwater vehicle underwater, if a displacement device is provided by means of which the rail runners can be moved and locked.This can then advantageously and preferably be automated. This also allows for remote-controlled displacement of the buoyancy bodies.

[0017] In the new design, the buoyancy bodies are arranged on the outside of the frame. Preferably and advantageously, the buoyancy bodies can be fluid-filled hollow bodies. Partial filling with water, but also complete filling with a gas, especially air, is possible. When unloaded, the buoyancy bodies are light and easy to handle. When loaded, they generate reliable buoyancy underwater. As already explained above, fine balancing is possible by vertically shifting the buoyancy bodies along the fastening rods. Additionally or alternatively, the buoyancy effect of the buoyancy bodies can also be changed by preferably and advantageously providing a recess in the wall of the hollow body into which one or more weight elements can be inserted. These can be stacked individually, next to one another, or on top of one another.They can also be rings threaded onto a rod. Various designs are known in practice.

[0018] Possible components for loading the underwater vehicle have already been mentioned above. It is understood that the loading depends on the underwater vehicle's task. In the simplest application, it is preferred and advantageous to arrange at least observation devices in the frame. In more complex applications, it is preferred and advantageous to arrange at least remotely controllable working devices and propulsion devices in the frame as components. The embodiments of the underwater vehicle depend on its application, two of which are preferred below.

[0019] Firstly, the underwater vehicle can be towed through the water column by another vehicle using a tow rope (possibly with an integrated data cable). For this application, the underwater vehicle does not require its own propulsion. It also does not require its own degrees of freedom in different directions of movement because it is simply towed behind a boat, for example, to carry out measurements or take water samples. Due to the towed nature, the underwater vehicle also does not require balanced buoyancy. It is therefore also possible for no buoyancy bodies to be attached to the frame. This variant is also easy to implement with the new design because the buoyancy bodies on the outside of the frame can be easily removed.On the other hand, there are applications in which the untowed, i.e., self-powered underwater vehicle is intended to operate at a constant height in the water column, for example, near the bottom of the water body (to take soil samples or carry out repair work on detached components). To do this, it must be buoyancy-neutral but self-stabilizing. Therefore, the buoyancy bodies are arranged in the first attachment section. The center of buoyancy is then above the center of gravity. The underwater vehicle has three linear degrees of freedom, and it can also be rotated around its vertical axis using propulsion systems, such as thrusters (a total of four degrees of freedom). Then there are applications for the underwater vehicle in which it is intended to perform work freely throughout the entire water column (for example, conducting observations beneath a fractured ice cover and taking samples).For such applications, the underwater vehicle requires maximum freedom in all three spatial directions to allow for flexible maneuverability. In terms of buoyancy, the submersible must then be buoyed in a neutral but unstable manner (the weight distribution of all components must be adjusted in advance to the center of buoyancy). This is achieved in the new design by arranging the buoyancy bodies in the second mounting section.

[0020] Further explanations of the present innovation and its respective modifications can be found in the exemplary embodiments shown below. Identical, unexplained, and additional reference numerals can be found in the other figures. Examples of implementation

[0021] In the following, the underwater vehicle claimed with the present invention and its preferred modifications are explained in more detail in exemplary embodiments for a better understanding of the innovation. Fig. 1 a schematic view of the stabilizing system, Fig. 2 a schematic view of the unstable system, Fig. 3 a schematic view of the towed system, Fig. 4 a perspective view of a self-stabilizing ROV, Fig. 5 a perspective view of an unstable ROV, Fig. 6 a detail in the area of ​​a sliding device with locking device and Fig. 7 a detail in the area of ​​an automated shifting device.

[0022] In the Fig. 1 schematically shows a cubic frame 01 of an underwater vehicle 12 with four vertical fastening rods 02 and four horizontal fastening rods 03. The four vertical fastening rods 02 each have a first fastening section 05 in an upper region 04. A buoyancy body 07 is arranged in two opposite fastening sections 05 on the outer side 06 of the frame 01. Thus, two buoyancy bodies 07 lie opposite one another. They create (together with other buoyant components) a buoyancy center 08 for the underwater vehicle 12. The frame 01 creates (together with other drifting components) a center of gravity 09 for the underwater vehicle 12. In the variant shown, the buoyancy center 08 lies significantly above the center of gravity 09. This ensures that the frame 01 is stable in a water column.The underwater vehicle 12 is self-stabilizing and has one degree of freedom: it can be rotated around the vertical axis.

[0023] In the Fig. 2 schematically shows the cubic frame 01 of the underwater vehicle 12 with the four vertical fastening rods 02 and the four horizontal fastening rods 03. The four vertical fastening rods 02 each have a second fastening section 11 in a central region 10. In each of the two opposite fastening sections 11, a buoyancy body 07 is arranged on the outer side 06 of the frame 01. Thus, two buoyancy bodies 07 lie opposite one another. They (together with other buoyant components) again create a buoyancy center 08 for the underwater vehicle 12. The frame 01 (together with other drifting components) again creates a center of gravity 09 for the underwater vehicle 12. In the variant shown, the buoyancy center 08 lies on the center of gravity 09. This results in an unstable position of the frame 01 in the water column.The underwater vehicle 12 is unstable and has three degrees of freedom: it can rotate around the vertical axis as well as around the two horizontal axes.

[0024] In the Fig. Figure 3 shows the application in which the frame 01 (or the underwater vehicle 12) is towed through the water column by a boat. It does not have to be designed to be either stable or unstable, so the buoyancy bodies 07 can be omitted. The underwater vehicle 12 primarily has the center of gravity 09. As with the self-stabilizing variant, the underwater vehicle 12 can rotate about the vertical axis. Shown are the free first fastening sections 05 in the upper area 04 and the free second fastening sections 11 in the middle area 10 of the vertical fastening rods 02 of the frame 01, in which buoyancy bodies 07 can be arranged depending on the application.

[0025] In the Fig. 4 is for the self-stabilizing application according to Fig. 01 depicts an ROV (Remotely Operated Vehicle) as the underwater vehicle 12. Various functional components can be seen, such as several propulsion devices 13 (shown are thrusters), observation devices 14 (shown are cameras), and work devices 15 (shown are measuring devices, spotlights). Also shown are the vertical fastening rods 02 of the frame 01, which each have a first fastening area 05 on the outside in the upper area 04. The buoyancy bodies 07 are arranged in these. It can be clearly seen that these do not interfere with the other components or are interfered with by them. In the illustrated embodiment, the two vertical fastening rods 02 are designed as continuous rails 16, on which the buoyancy bodies 07 can be moved vertically by means of rail runners 18. A first locking device 19 fixes them in the position shown.The buoyancy bodies 07 are designed as fluid-filled hollow bodies 20. For fine balancing, they have a recess 21 in their wall into which weight elements 22 are inserted. Furthermore, the . Fig. 4 further rails 17 can be seen, which serve to guide the buoyancy bodies 07 in the upper area 04 of the vertical fastening rods 02.

[0026] In the Fig. 5 is for the unstable application case according to Fig. 02 the ROV 12 is shown in an alternative design. The vertical fastening rods 02 each have a second fastening section 11 in the central area 10. The buoyancy bodies 07 are now arranged in these. It can be clearly seen that these do not interfere with the other components or are interfered with by them. The transfer of the buoyancy bodies 07 from the stable application to the unstable application and vice versa takes place by simply sliding the buoyancy bodies 07 along the vertical fastening rods 02 designed as continuous rails 16. A second locking device 23 fixes them in the second position shown. It is combined with the attachment of a spotlight 15. The displacement and locking can also be carried out remotely by a displacement device 35 (not shown in detail), which simultaneously fixes the buoyancy bodies 07 in their end positions.

[0027] In the event that the ROV 12 is towed behind a boat through the water column on a towing device (buoyancy-free application or negative buoyancy, ie only downforce according to Fig. 3), the buoyancy bodies 07 can optionally be omitted. Their attachments to the vertical mounting rods 02 allow for easy removal. For the other two applications, the buoyancy bodies 07 can then be reinstalled quickly and easily.

[0028] In the Fig. 6 shows another detail in an exploded view (double arrow) in the area of ​​the first locking device 19. On the vertical fastening rod 02 (here with a rectangular cross-section), a perforated T-rail 24 is arranged in the first fastening section 05, which has a row of spaced-apart holes 26 in its vertical leg 25. It is understood that the described locking device 19 is provided on both parallel vertical fastening rods 02, so that the buoyancy body 07 can always be locked uniformly on both fastening rods 02. The same applies to both opposite buoyancy bodies 07 on both sides of the frame 01. In the second fastening section 11, a second perforated T-rail 24 can be arranged analogously to the implementation of the second locking device 23.However, this can also be simply designed as a continuous unit, so that the two locking devices 19, 23 are formed by the continuous perforated T-rail 24 and by a common arrangement on the buoyancy body 07, which interacts with the perforated T-rail 24 in the two fastening sections 05, 11, and form a displacement device 35. Part of this is the rail runner 18, which in the illustrated embodiment is designed as a simple groove 27, whereby the buoyancy body 07 can then be displaced vertically with the groove 27 on the vertical leg 25 of the perforated T-rail 24. At the same time, the buoyancy body 07 is also laterally stabilized by such a design.Furthermore, the displacement device 35 comprises a bolt 28 (with a removable handle 40) which is preloaded with a compression spring 29 (generating a restoring force upon compression) (an embodiment with a tension spring (generating a restoring force upon expansion) is also possible). The compression spring 29 is arranged between a fixed disc 37, which is connected to the bolt 28, and a loose disc 36. In the preloaded position, the bolt 28 is locked via the handle 40 by a 90° rotation via a removable pin 30 to a perforated disc 38, which is also firmly connected to the buoyancy body 07. The loose disc 36 prevents penetration into the buoyancy body 07, which can be made of a soft foam, for example.When the buoyancy body 07 is positioned in its predetermined position in the first or second fastening section 05, 11, the bolt 28 and thus the pin 30 are pulled out against the compression spring 29 via the handle 40 and rotated by 90°. After being released, the bolt 28 then securely engages under the spring load in one of the holes 26 on the perforated T-rail 24 (in the . Fig. 6). Since the locking devices 19, 23 are provided on both sides of the buoyancy body 07, the locking occurs at the same height, whereby the buoyancy body 07 is securely fixed in its upper or middle position. By pulling back and turning the bolt 28, the position can be unlocked again and the buoyancy body 07 can be moved to its other position.

[0029] In the inserted top view A in Fig. Figure 6 shows the displacement device 35 from above. The groove 27 in the buoyancy body 07 (made, for example, of buoyancy foam) and the bolt 28, which interacts with the compression spring 29 and the pin 30, can be seen. Also visible are the disc 37, which is firmly connected to the bolt 28, and the loose disc 36, which serves as a stop for the compression spring 29, and the likewise fixed perforated disc 38, which serves as a stop for the pin 30. The arrangement shown is located in a passage 39 in the buoyancy body 07 and can be inserted from above (after removing the pin 30 and the handle 40). The pin 30 and the handle 40 are then reassembled.

[0030] In the Fig. Figure 7 shows another detail in an exploded view (double arrow) for a possible automation of the displacement device 35 of the buoyancy bodies 07. Instead of the perforated T-rail 24, a toothed T-rail 31 is provided, which now necessarily extends over both fastening sections 05, 11 of the vertical fastening rods 02 (again with a rectangular cross-section - with a round cross-section, a corresponding adjustment of the T-rail 24, 31 is required). This embodiment also has the advantage of good lateral stabilization of the buoyancy bodies 07. On the front side of the vertical leg 25, the toothed T-rail 31 has a rack 32 to implement the toothing (alternatively, the vertical leg 25 of the toothed T-rail 31 can also be provided with a toothing directly). A worm wheel 33 engages in this, which is arranged in the groove 27 of the buoyancy body 07 and is driven by a motor 34.Depending on the direction of rotation of the motor 34, the buoyancy body 07 is now moved up or down, with both motors 33 on both sides of the buoyancy body 07 being synchronized. However, it is also possible to provide a motor 34 with a worm gear 33 on just one side of the buoyancy body 07 and to guide the other side accordingly without being driven. The motor 34 can, for example, be fully encapsulated and designed without a housing. It is then particularly suitable for underwater use, as the worm gear 33 can be arranged directly on its drive shaft. A locking device 19, 23 can be omitted in this embodiment because the buoyancy bodies 07 are held in their position by the locking of the motor 34. In this case, not only individual predetermined positions, for example those through the holes 26 according to . Fig.6, positions can be taken. Rather, the buoyancy bodies 07 can be positioned and secured in any position along the toothed T-rails 31.

[0031] Remote control of motor 34 is readily possible, for example, from a research vessel via a transmitting buoy on the water surface (for a free-floating AUV) or via a data cable (for a tethered ROV). This allows the ROV / AUV to switch its buoyancy between stable and unstable positions directly underwater, allowing switching between different application scenarios even directly underwater. List of reference symbols 01 Frame 02 vertical mounting rod 03 horizontal mounting rod 04 upper area of ​​02 05 first fastening section 06 Outside of 01 07 Buoyancy bodies 08 Center of buoyancy 09 Center of gravity 10 middle range of 02 11 second fastening section 12 underwater vehicle, ROV 13 Drive unit 14 Observation device 15 Work equipment 16 rail 17 additional rails 18 rail runners 19 first locking device 20 hollow bodies 21 Recess 22 Weight element 23 second locking device 24 perforated T-rails 25 vertical leg of 24, 31 26 holes in 25 27 grooves 28 bolts 29 compression spring 30 pens 31 toothed T-rail 32 threaded rod 33 Worm gear 34 Engine 35 Shifting device 36 loose disc 37 fixed disc (on 28) 38 hole disc 39 implementation in 07 40 handle on 28 QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 0 169 219 B1

[0007] WO 01 / 92649 A1

[0007] US 2011 / 094433 A1

[0007] CN 112776963 A

[0007] CN 215884033 U

[0007] Cited non-patent literature

[0000] The Maritime Engineering Reference Book", ed. by Anthony F. Molland. 2008, Chapter 10: "Underwater vehicles", pp.728-783 (https: / / doi.org / 10.1016 / b978-0-7506-8987-8.00010-x

[0004] Biao Wang et al.: „ROV State Estimation Using Mixture of Gaussian Based on Expectation-Maximation Cubature Particel Filter“ (in Appl. Sci. 2023, 13, 5885, https: / / doi.org / 10.3390 / app13105885

[0005] C. Katlein et al.: „A New Remotely Operated Sensor Platform for Interdsiciplinary Oberservation und Sea Ice“ (aus Frontiers in Marine Science, September 2017, Volume 4, Article 281, doi: 10.3389 / fmars.2017. 00281

[0006]

Claims

[1] Underwater vehicle (12) with a frame (01) for fastening components with at least four vertical fastening rods (02) which are arranged opposite one another in pairs on the outside of the frame (02) and between which buoyancy bodies (07) can be fastened, wherein the underwater vehicle (12) defines a center of gravity (09) under water by its weight and a center of buoyancy (08) by arranged buoyancy bodies (07), characterized bythat the vertical fastening rods (02) have a first fastening section (05) in an upper region (04) and a second fastening section (11) in a middle region (10), in which only the buoyancy bodies (07) can be arranged alternatively, wherein when the buoyancy bodies (07) are arranged in the first fastening section (05), the center of buoyancy (08) lies above the center of gravity (09) and when the buoyancy bodies (07) are arranged in the second fastening section (11), the center of buoyancy (08) lies on the center of gravity (09). [2] Underwater vehicle (12) according to claim 1, characterized by that the buoyancy bodies (07) have quick-release devices with which they can be fastened in the first or second fastening section (05, 11). [3] Underwater vehicle (12) according to claim 1, characterized bythat the buoyancy bodies (07) have rail runners (18, 27) and the vertical fastening rods (02) have rails (16, 24, 31) in the first fastening section (05) and in the second fastening section (11), wherein the rail runners (18, 27) are designed to be displaceable on the rails (16, 24, 31). [4] Underwater vehicle (12) according to claim 3, characterized by that the rails (16, 24, 31) extend continuously from the first fastening section (05) into the second fastening section (11). [5] Underwater vehicle (12) according to claim 3 or 4, characterized by that the rails (16, 24, 31) in the first fastening section (05) and in the second fastening section (11) have at least one latching device (19, 23) in which the rail runners (18, 27) can be latched. [6] Underwater vehicle (12) according to claim 3 or 4, characterized bythat a displacement device (35) is provided by means of which the rail runners (18, 27) can be displaced and locked into place. [7] Underwater vehicle (12) according to claim 6, characterized by that the displacement device (35) is automated by means of a motor (34). [8] Underwater vehicle (12) according to one of the preceding claims, characterized by that the buoyancy bodies (07) are designed as fluid-filled hollow bodies (20). [9] Underwater vehicle (12) according to claim 8, characterized by that a recess (22) is provided in the wall (21) of the hollow body (20), into which one or more weight elements (23) can be introduced. [10] Underwater vehicle (12) according to one of the preceding claims, characterized by that at least observation devices (14) are arranged as components in the frame (01). [11] Underwater vehicle (12) according to one of the preceding claims, characterized bythat at least remote-controllable working devices (15) and drive devices (13) are arranged as components in the frame (01).

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