Modular underwater vehicle which is capable of completely resurfacing

Abstract

The invention relates to a modular underwater vehicle (10). The underwater vehicle (10) has at least one bow module (20) and at least one stern module (30), and the underwater vehicle (10) has at least one payload module (40) between the bow module (20) and the stern module (30). The invention is characterized in that the underwater vehicle (10) has at least one port-side module and at least one starboard-side module, wherein the at least one port-side module is arranged next to the first payload module (40), the starboard-side module is arranged next to the first payload module (40), the starboard-side module has at least one buoyancy-generating device (60), and the port-side module has at least one buoyancy-generating device (60).

Description

[0001] Fully submersible modular underwater vehicle

[0002] The invention relates to a modular underwater vehicle. Such underwater vehicles are known from the prior art and are becoming increasingly relevant for use.

[0003] The execution of remote-controlled underwater work is known from DE 10 2015 213 293 A1.

[0004] From DE 10 2017 200 078 A1 a modular watercraft with at least one utility element and two first bow elements is known.

[0005] A trim system for a modular underwater vehicle is known from DE 10 2019 202 190 A1.

[0006] A buoyancy modification module for a modular underwater vehicle is known from DE 10 2019 202 189 A1.

[0007] From the subsequently published DE 10 2023 110 690, the operation of a fuel cell in a small pressure hull, in particular for an autonomous underwater vehicle, is known.

[0008] A shaft bearing is known from the subsequently published DE 10 2023 112 673.

[0009] From the subsequently published DE 10 2023 117 626, a gas pressure control system for a manned or unmanned underwater vehicle with a fuel cell device is known.

[0010] From the subsequently published DE 10 2023 117 838, a compact process water degassing system for a fuel cell plant is known.

[0011] DE 10 2021 130 596a1 discloses a self-contained level sensor with a float, a method for measuring a level, and a corresponding arrangement. DE 10 2009 032 364 A1 discloses a device for underwater operation.

[0012] A submersible storage container and a platform are known from WO 2006 / 100 660 A1.

[0013] An improvement for fruit-bearing vessels is known from GB 548 915 A.

[0014] The advantage of modular underwater vehicles is that they can be easily configured depending on the mission. For example, to achieve greater range, more tank modules can be carried along. "Garage" modules for ROVs can be used to perform various tasks. For dropping or picking up payloads, a buoyancy compensation module is often required in addition to a payload module. This high level of flexibility allows for rapid adaptation to new tasks.

[0015] To make the modules easy to combine, the individual modules, or at least matching module groups, are designed to be buoyancy-neutral. This makes it easy to combine, exchange, and so on. This also makes different lengths and thus different numbers of modules very easy to create.

[0016] The effect of a modular underwater vehicle composed of such buoyancy-neutral modules is that the maximum buoyancy is comparatively low, so that upon surfacing, the modular underwater vehicle only extends slightly above the water surface, for example, with only a turret barely above it. This makes boarding the modular watercraft, for example, for maintenance purposes, refueling, or removing or inserting payload, difficult to impossible and extremely affected by waves. The object of the invention is to create a modular underwater vehicle that is freeboard capable even with different lengths (different numbers of payload modules).

[0017] This object is achieved by the modular underwater vehicle having the features specified in claim 1. Advantageous further developments emerge from the subclaims, the following description, and the drawings.

[0018] The modular underwater vehicle according to the invention has at least one bow module and at least one stern module. A modular underwater vehicle is variably assembled from different modules, particularly depending on the mission, and can also be easily disassembled into the modules again. Modular, in the sense of the invention, therefore means that the watercraft is assembled from different modules and that the modules have standardized interfaces for modularity, so that the underwater vehicle can be assembled from different modules. There may be necessary modules that are present in every assembly, for example a stern module with a drive or a bow module. However, the payload modules in the middle, in particular, can be used flexibly. In particular, a variable length can be achieved by using a different number of modules.As described in DE 10 2017 200 078 A1, two or more bow modules and stern modules can also be used. A single bow module and a single stern module have the disadvantage that the width of the modular underwater vehicle cannot be modified, but the advantage that the one bow module and the one stern module, as constant components, can easily accommodate the essential components, such as the drive. Therefore, the embodiment with exactly one bow module and exactly one stern module can be considered advantageous. The underwater vehicle has at least one first payload module between the bow module and the stern module. Preferably, a plurality of payload modules are used. For example, the payload modules can be arranged in two adjacent rows between the bow module and the stern module.Particularly preferably, the payload modules can be designed in the form of containers according to ISO 668, especially as 10-foot or 20-foot containers. This offers several advantages. Firstly, it provides a high level of standardization, which greatly simplifies interchangeability. Furthermore, the payload modules can be easily stored or transported outside of an underwater vehicle. This enables simplified modification of mission-dependent modules.

[0019] According to the invention, the underwater vehicle has at least one port side module and at least one starboard side module. The at least one port side module is arranged next to the first payload module, and the at least one starboard side module is arranged on the opposite side next to the first payload module. If, for example, the payload module is twice as long as the side modules, then, for example and preferably, two starboard side modules and two port modules can be arranged one behind the other in the longitudinal direction next to the payload module (or next to the payload modules if, for example, two payload modules are arranged next to one another). If, for example, two payload modules are arranged next to one another, the order of the modules can then be, for example: starboard side module, first payload module, second payload module, port side module.Both the starboard side module and the port side module are arranged longitudinally between the bow module and the stern module. Preferably, the distance between the bow module and the stern module corresponds to an integer multiple of the length of the port side module or the starboard side module, respectively, so that this integer number of starboard side modules or port side modules are arranged one behind the other between the bow module and the stern module. This means that the length of the modular underwater vehicle can be easily adapted to a different number of payload modules. The starboard side module has at least one buoyancy-generating device, and the port side module has at least one buoyancy-generating device.

[0020] Equipping the side modules with buoyancy-generating devices offers two major advantages. Firstly, the payload modules can be truly rectangular, particularly in container form, and are highly standardized, as the side modules take over the hydrodynamic shape on the side. Secondly, as the length and thus displacement of the modular underwater vehicle increase, the buoyancy generated by the total number of buoyancy-generating devices increases accordingly. This also increases the efficiency of the modularity, as it reliably ensures that the buoyancy is sufficient even for any length.

[0021] By generating buoyancy using buoyancy generation devices, sufficient additional buoyancy can be generated in a modular underwater vehicle so that the modular underwater vehicle surfaces completely, not just with the tower or mast, and sufficient freeboard is also generated. The top side of the underwater vehicle or the freeboard deck is then accessible. Freeboard, as defined in this application, means the distance between a water surface and a higher edge or level of the underwater vehicle. The higher edge or level of the underwater vehicle is the edge or a surface intended for access, for example the top side of the underwater vehicle or the freeboard deck. The water level is defined as the mean value of an idealized, smooth surface and is free of disruptive influences such as waves.

[0022] For example, the starboard side module and the port side module have a length of 10 feet.

[0023] In a further embodiment of the invention, the starboard side module and the port side module, respectively, have a hydrodynamically optimized shape on the outer side. More preferably, the starboard side module and the port side module, respectively, have a straight side on the inner side facing the payload module.

[0024] In a further embodiment of the invention, the buoyancy generating devices are arranged entirely within the starboard side module or the port side module. This not only ensures that the flow behavior remains unchanged, but also keeps the external ship structure rigid, which is advantageous when another ship at sea wants to dock with the modular underwater vehicle, for example, for refueling or to remove or insert payload. If, for example, inflatable buoyancy bags were to protrude laterally from the side modules, this would be more difficult.

[0025] In a further embodiment of the invention, the starboard side module and the port side module each have at least one first compressed gas reservoir. While a central compressed gas reservoir can also be provided, a decentralized system with a compressed gas reservoir per side module allows for very simple scalability, i.e., extension of the modular underwater vehicle. More than one first compressed gas reservoir per side module can be advantageous, for example, to be able to use commercially available compressed gas cylinders, which can be accommodated in a very space-saving manner in the longitudinal direction of the compressed gas cylinders and in the longitudinal direction of the underwater vehicle.

[0026] In a further embodiment of the invention, the amount of substance in the first compressed gas reservoirs of a module corresponds to at least three times the product of the volume of all buoyancy-generating devices in the module and the maximum diving pressure divided by the product of R (gas constant, product of Avogadro constant and Boltzmann constant) with the lowest temperature at maximum diving depth. The influence of temperature is comparatively small here. To be on the safe side, a value of 260 K, for example, can be used. This corresponds to the lowest possible temperature for liquid water at a pressure of around 1000 bar, i.e., a diving depth of 10,000 m. If the buoyancy-generating device is used exclusively to raise the deck sufficiently above the water surface, 101325 Pa and 273 K can also be assumed, since in this case it is only used directly at the water surface.

[0027] In a further embodiment of the invention, the at least one bow module and / or the at least one stern module have at least one second compressed gas reservoir. The bow module has a bow gas network. The bow gas network can be connected to the starboard side module adjacent to the bow module and the port side module of the bow module and the second compressed gas reservoir in such a way that it can conduct gas from the second compressed air reservoir to the adjacent side modules. The buoyancy generation devices of the starboard side module adjacent to the bow module and / or of the port side module of the bow module can be ventilated by the second compressed gas reservoir and via the bow gas network, for example by opening a valve. Alternatively or additionally, the stern module can have a stern gas network.The stern gas network can be connected to the starboard side module adjacent to the stern module and the port side module adjacent to the stern module, as well as to the second compressed gas reservoir, in such a way that it can conduct gas from the second compressed air reservoir to the adjacent side modules. The buoyancy generation devices of the starboard side module adjacent to the stern module and the port side module adjacent to the stern module can be ventilated by the second compressed gas reservoir and via the stern gas network, for example, by opening a valve. This is preferably an emergency ascent device. Less buoyancy is required for an emergency ascent than for sufficient freeboard.And since the nose module and the tail module are always present, it is advantageous to arrange these components for emergency ascent there, but for space reasons to then use the buoyancy generation devices of the adjacent side modules, as this saves the space for buoyancy generation devices in the nose module and the tail module.

[0028] In addition to generating buoyancy to ensure sufficient freeboard, if there is sufficient pressure and a sufficient amount of gas in the first pressurised gas storage tanks, the buoyancy generating devices can also be used for emergency ascents, as they are then ventilated against the maximum pressure at maximum diving depth.

[0029] In a further embodiment of the invention, the starboard side module and the port side module are water-flushed.

[0030] In a further embodiment of the invention, the starboard side module and the port side module have a rigid outer skin. This provides a solid outer ship structure. In particular, the buoyancy generating devices, for example, are not deployed as deployable buoyancy bodies beyond the outer ship structure, which in turn makes it easier, for example, to dock the modular underwater vehicle with another ship or to dock the modular underwater vehicle at a pier.

[0031] In a further embodiment of the invention, the lift-generating devices are deployable lift-generating devices. In this case, deployment preferably occurs within the side modules, without the deployable lift-generating devices being inflated to protrude outward.

[0032] In a further alternative embodiment of the invention, the buoyancy generating devices are floodable ballast tanks.

[0033] In a further embodiment of the invention, the starboard side module and the port side module each have at least one rigid buoyancy element. A rigid buoyancy element is a body that is dimensionally stable even under pressure and has a density of less than 1000 kg / m 3 For example, the dimensionally stable body can be made of plastic. This allows the buoyancy neutrality of the side modules to be achieved even without additional lift generated by the buoyancy generation devices.

[0034] In a further embodiment of the invention, the maximum buoyancy of the buoyancy-generating devices of the starboard side module and the port side module is at least 10% of the displacement of the starboard side module and the port side module, as well as all payload modules arranged therebetween. Preferably, the maximum buoyancy of the buoyancy-generating devices of the starboard side module and the port side module is at least 10% of the displacement of the starboard side module and the port side module, as well as all payload modules arranged therebetween, as well as, proportionally to all side modules, the bow module and the stern module. In other words, the embodiment can provide that the sum of all starboard side modules and port side modules generate at least 10% of the displacement of the entire underwater vehicle as buoyancy.In a further embodiment of the invention, the buoyancy of the buoyancy generating device is dimensioned such that a freeboard of 100 mm to 1000 mm, preferably 150 mm to 250 mm, is achieved.

[0035] Particularly preferably, the side modules are designed identically so that they can be used as either a starboard side module or a port side module.

[0036] In a further embodiment of the invention, the length of the port side module is equal to the length of the starboard side module in the longitudinal direction of the underwater vehicle, wherein the length of the side modules is preferably equal to the length of the payload module.

[0037] In this embodiment, it is particularly preferred that all payload modules have the same length, and the side modules also have this length. Individual payload modules can be a multiple of this length, in which case it is provided that this multiple is mounted on at least one side module on the port or starboard side along the length of the underwater vehicle.

[0038] In a further embodiment of the invention, the first payload module has the shape of a cuboid. This creates rectangular connecting surfaces on all sides, simplifying modular assembly.

[0039] In a further embodiment of the invention, the port side module and the starboard side module have a rectangular shape on the side adjacent to the first payload module. This simplifies combination with any cuboid-shaped payload modules.

[0040] In a further embodiment of the invention, the at least one port side module and the at least one starboard side module are arranged between the bow module and the stern module. The port side module and the starboard side module thus represent the lateral outer skin of the modular underwater vehicle, while the bow module and the stern module have the flow-optimized outer skin profile. As a result, the bow module and the stern module can each have a rectangular shape on the inward-facing side in order to be coupled to at least one payload, while the bow module and the stern module can be coupled to the bow module and the stern module, respectively.

[0041] In a further embodiment of the invention, all modules, in particular the bow module, the stern module, the payload modules, the port side module and the starboard side module, have standardized connecting elements to enable a quick and easy combination of the modules.

[0042] The modular underwater vehicle according to the invention is explained in more detail below using an embodiment shown in the drawings.

[0043] Fig. 1 Top view of the modular underwater vehicle

[0044] Fig. 2 Cross section through a side module in longitudinal direction

[0045] Fig. 3 Cross section through a side module in transverse direction

[0046] Fig. 1 shows a schematic top view of the modular underwater vehicle 10. At the front is the bow module 20, and at the rear is the stern module 30, for example, with propulsion and rudder. Between them are five payload modules 40 arranged in two rows, for example, four 10-foot containers and one 20-foot container. Next to the payload containers 40 and between the bow module 20 and the stern module 30 are the side modules 50, the starboard side modules on the starboard side and the port side modules on the port side. As can easily be seen, the number of payload modules 40 can be easily increased. The number of side modules 50 then automatically increases analogously, so that the generated buoyancy has a relatively constant ratio to the total displacement.

[0047] Fig. 2 shows a longitudinal cross-section through an exemplary side module 50, and Fig. 3 shows the transverse cross-section. Buoyancy elements 80 are located at the bottom, front, and rear, generating a fixed buoyancy and thus ensuring buoyancy neutrality, even when the buoyancy generating devices 60 are not filled with gas and therefore do not generate any buoyancy. Essential components in the example shown are two buoyancy generating devices 60 and a first compressed gas reservoir 70, for example in the form of a commercially available compressed gas cylinder with a nominal volume of 50 l and a pressure of 300 bar. If necessary, the gas from the first compressed gas reservoir 70 can be fed into the buoyancy generating devices 60, thus generating the necessary buoyancy to safely raise the modular underwater vehicle 10 and the freeboard deck completely above water.

[0048] Reference symbol

[0049] 10 Modular underwater vehicle

[0050] 20 bow module

[0051] 30 Rear module 40 Payload module

[0052] 50 page module

[0053] 60 buoyancy generating device

[0054] 70 first compressed gas storage facility

[0055] 80 buoyancy element

Claims

Patent claims 1. Modular underwater vehicle (10), wherein the underwater vehicle (10) has at least one bow module (20) and at least one stern module (30), wherein the underwater vehicle (10) has at least one first payload module (40) between the bow module (20) and the stern module (30), characterized in that the underwater vehicle (10) has at least one port side module and at least one starboard side module, wherein the at least one port side module is arranged next to the first payload module (40), wherein the starboard side module is arranged next to the first payload module (40), wherein the starboard side module has at least one buoyancy generating device (60), wherein the port side module has at least one buoyancy generating device (60).

2. Modular underwater vehicle (10) according to claim 1, characterized in that the buoyancy generating devices (60) are arranged entirely within the starboard side module or the port side module.

3. Modular underwater vehicle (10) according to one of the preceding claims, characterized in that the starboard side module and the port side module each have at least one first compressed gas reservoir (70).

4. Modular underwater vehicle (10) according to one of the preceding claims, characterized in that the amount of substance in the first compressed gas reservoirs (70) of a module corresponds to at least three times the product of the volume of all buoyancy generating devices (60) of the module and the maximum diving pressure divided by the product of R with the lowest temperature at maximum diving depth.

5. Modular underwater vehicle (10) according to one of the preceding claims, characterized in that the at least one bow module (20) and / or the at least one stern module (30) each have at least one second compressed gas reservoir, wherein the bow module (20) has a bow gas network, wherein the bow gas network is connected to the starboard side module adjacent to the bow module (20) and to the port side module of the bow module (20), wherein the buoyancy generating devices (60) of the starboard side module adjacent to the bow module (20) and of the port side module of the bow module (20) can be ventilated by the second compressed gas reservoir and via the bow gas network, wherein alternatively or additionally the stern module (30) has a stern gas network, wherein the stern gas network is connected to the starboard side module adjacent to the stern module (30) and to the port side module of the stern module (30), wherein the buoyancy generating devices (60) of the starboard side module adjacent to the stern module (30) and of the port side module of the stern module (30) can be ventilated by the second compressed gas reservoir and via the stern gas network.

6. Modular underwater vehicle (10) according to one of the preceding claims, characterized in that the starboard side module and the port side module are water-flushed.

7. Modular underwater vehicle (10) according to one of the preceding claims, characterized in that the starboard side module and the port side module have a rigid outer skin.

8. Modular underwater vehicle (10) according to one of the preceding claims, characterized in that the buoyancy generating devices (60) are deployable buoyancy generating devices (60).

9. Modular underwater vehicle (10) according to one of claims 1 to 7, characterized in that the buoyancy generating devices (60) are floodable ballast tanks.

10. Modular underwater vehicle (10) according to one of the preceding claims, characterized in that the starboard side module and the Port side module each have at least one rigid buoyancy element (80). 11 . Modular underwater vehicle (10) according to one of the preceding claims, characterized in that the maximum buoyancy of the Buoyancy generating devices (60) of the starboard side module and the port side module is at least 10% of the displacement of the starboard side module and the port side module and of all payload modules (40) arranged therebetween.

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