Device for receiving an unmanned underwater vehicle

Abstract

The invention relates to a device (20) for receiving an unmanned underwater vehicle (22) below the water surface by means of a platform (31). The device comprises a frame, which is designed to at least partly enclose the unmanned underwater vehicle (22), and a holding mechanism, which is designed to produce a mechanical connection between the frame and the unmanned underwater vehicle (22) in order to fix the unmanned underwater vehicle (22) in the frame (24).

Description

[0001] Device for accommodating an unmanned underwater vehicle

[0002] Description

[0003] The invention relates to a device for accommodating an unmanned underwater vehicle using a water platform. Suitable platforms include, for example, a surface vehicle that takes the unmanned underwater vehicle on board or deploys it from there; another, particularly manned, underwater vehicle that picks up or deploys the unmanned underwater vehicle, for example, through a torpedo tube or another opening; and a station stationary at the edge of the water or on the water that picks up or deploys the unmanned underwater vehicle. The accommodating of an unmanned underwater vehicle is also referred to below as salvage.

[0004] Launching and / or retrieving underwater vehicles from a platform is not trivial. In particular, waves make retrieving underwater vehicles difficult. This particularly applies to retrieval using a taut cable to which a hook from the underwater vehicle is attached, allowing the underwater vehicle to be retrieved by retrieving the cable. Alternatively, the underwater vehicle can also be retrieved using a ramp mounted on the platform. However, this has the disadvantage that the underwater vehicle must drive onto the ramp at a considerably higher speed than the platform in order to be retrieved. This can potentially lead to damage to the underwater vehicle; for example, the fins of the underwater vehicle could break off.Furthermore, it is not entirely safe for the crew of the water platform if the underwater vehicle approaches the ramp at high speed. Here, too, any sea swell can negatively impact the recovery, for example, if a wave causes the underwater vehicle to fall onto the ramp from a great height. The object of the present invention is therefore to create an improved concept for the launching and / or recovery of underwater vehicles.

[0005] This problem is solved by the subject matter of the independent patent claims. Further advantageous embodiments are the subject matter of the dependent patent claims.

[0006] Embodiments show a device for receiving and / or deploying an unmanned underwater vehicle below the water surface using a platform. The device comprises a frame configured to at least partially enclose the unmanned underwater vehicle. Furthermore, the device, for example the frame, comprises a holding mechanism configured to establish a mechanical connection between the frame and the unmanned underwater vehicle in order to fix the unmanned underwater vehicle in the frame.

[0007] This means that at least a sub-sector of the underwater vehicle is accommodated in the frame, and the sub-sector is mechanically connected to the frame. Various configurations are now available for connecting the frame to the underwater vehicle, which are described in the exemplary embodiments.

[0008] Advantageously, the frame has external dimensions similar to those of the underwater vehicle to be accommodated. This results in the underwater vehicle and frame having similar flow characteristics, which simplifies the approach of the frame to the underwater vehicle. For example, a fully enclosed frame has an enclosed space that differs from the enclosed space of the underwater vehicle by a maximum of 50%, preferably a maximum of 30%, more preferably a maximum of 20%.

[0009] The idea is therefore to carry out the launching and recovery of underwater vehicles below the water surface and thus make it independent of the wave state. In exemplary embodiments, the device comprises a traction means which is designed to connect the platform to the frame. The traction means provides a communication connection, for example an electrical and / or an optical connection, and establishes the mechanical connection to the frame. The frame can thus be connected to the platform by means of the traction means. Furthermore, the communication connection enables, for example, the sending of control information from the platform to the frame or from the frame to the platform. Communication between the platform and the unmanned underwater vehicle is also possible if a communication connection exists between the frame and the unmanned underwater vehicle.The information can, for example, be the frame's message to the platform that the underwater vehicle is secured. Furthermore, it is possible to use the traction device to establish a power supply between the platform and the frame, either in addition to or as an alternative to the communication connection. If a power supply is provided between the frame and the unmanned underwater vehicle, the unmanned underwater vehicle can also be supplied with power via the platform. It is also possible for the frame to have its own power supply. In this case, the traction device can be simpler, in particular, limited to the mechanical connection.

[0010] In further embodiments, the frame has a control unit or a plurality of control units designed to maneuver the frame in the water. The control units can be controlled, for example, by means of the above-described communication connection via the traction means from the platform. This means that the control units are designed to convert control information from the underwater vehicle into a movement of the frame corresponding to the control information. Suitable control units include, for example, ship thrusters, propellers, or active depressors such as rudders. Additionally or alternatively, the frame can have further instruments for stabilization, such as fins or passive depressors such as flippers.

[0011] In further embodiments, the device has a sensor, in particular a plurality of sensors, which is designed to detect the unmanned underwater vehicle in the water. The sensor can transmit its sensor data to the platform so that the frame can be remotely controlled based on the sensor data, e.g., by an operator or a signal processing unit. A suitable sensor can be, for example, an (optical) camera, a sonar, an inductive sensor, an Ultra Short Baseline (USBL) system, etc. A combination of sensors is also possible. Furthermore, it is possible to provide lighting on the device, e.g., to better illuminate the camera image. The remote control makes it possible to pick up the underwater vehicle without the platform requiring special sensors and intelligence for entering the frame. Furthermore, it is also possible to recover underwater vehicles with limited or non-maneuverable capabilities.

[0012] Using the sensor data, it is also possible for the device to operate autonomously or partially autonomously. To achieve autonomy, the device can comprise a signal processing unit configured to maneuver the frame based on sensor data by means of the control unit(s) in such a way that the frame wraps around the unmanned underwater vehicle or the unmanned underwater vehicle moves into the frame, so that the frame at least partially encloses the unmanned underwater vehicle. The signal processing unit can be positioned as desired and can thus be located, for example, on board the platform or in the water, for example, on the frame.

[0013] Furthermore, it is possible for the device to comprise an actuator as a control unit, which is designed to maneuver the frame in the water in addition to or as an alternative to the control units. In particular, the actuator enables the frame to be moved in all spatial directions. Propellers or ship thrusters, for example, are suitable actuators.

[0014] In further embodiments, the opening of the frame for receiving the unmanned underwater vehicle is funnel-shaped. A funnel-shaped opening initially makes it easier for the underwater vehicle to be inserted into the device. Furthermore, a funnel-shaped opening also makes it easier for the underwater vehicle to be secured. For this purpose, the underwater vehicle has a diameter that is smaller than the starting diameter of the funnel-shaped opening. For example, the diameter of the unmanned underwater vehicle lies between the starting and ending diameters of the funnel-shaped opening. Thus, the underwater vehicle is automatically stopped by the frame when the underwater vehicle has been retracted far enough into the frame that the diameter of the frame and the diameter of the underwater vehicle are the same. In particular, the securing of various underwater vehicles of different sizes is also possible using the funnel-shaped opening.The underwater vehicles then stop at different positions in the funnel, i.e., axially, in the direction of travel of the underwater vehicle. However, it is also possible for the diameter of the underwater vehicle to be selected so that the underwater vehicle travels to an end position of the funnel. This is possible, for example, if the diameter of the unmanned underwater vehicle is smaller than the starting diameter and the final diameter of the funnel-shaped opening.

[0015] The funnel-shaped opening is designed, for example, to be folded in order to narrow the opening and implement the holding mechanism. The folding can be carried out, for example, by means of a cable pull. For example, the frame has a plurality of rods that extend in a funnel shape from any anchor point, for example a head of the frame, to form a boundary of the funnel-shaped opening, wherein the rods are rotatably mounted at the anchor point of the frame, for example by means of joints, to enable the funnel to be folded. Additionally or alternatively, it is also possible for joints to be located within the rods to enable the rods to be bent and the funnel-shaped opening to be folded. In particular, the funnel-shaped opening is folded in such a way that the opening, for example rods of the funnel-shaped opening, rest against the underwater vehicle.Folding also has the advantage of reducing the space required on the platform.

[0016] In one embodiment, one or more connecting elements, in particular a net, are arranged between the bars. The connecting elements prevent, for example, the underwater vehicle from passing through the bars. This can happen that the underwater vehicle enters the opening but can exit the frame again through the bars. Using the connecting elements, a mechanical barrier can be created between the bars that the underwater vehicle cannot penetrate, or can only penetrate with difficulty.

[0017] In further embodiments, the holding mechanism for securing the unmanned underwater vehicle has a triggering mechanism, in particular an electrical triggering mechanism. The triggering mechanism can automatically initiate the securing of the unmanned underwater vehicle when the watercraft reaches a predetermined position relative to the frame. The triggering mechanism can be arranged at a position in the frame that represents the end position of the underwater vehicle. Once the underwater vehicle has reached the end position, the triggering mechanism is automatically actuated, and the holding mechanism is triggered to secure the underwater vehicle. The triggering mechanism can be, for example, a proximity sensor or a mechanical sensor, e.g., an impact plate.

[0018] In further embodiments, the frame (e.g., of any shape, in particular funnel-shaped) has a fillable, in particular inflatable, cushion or a plurality of fillable, in particular inflatable, cushions designed to protect the unmanned underwater vehicle from contact with the frame. The cushions can be filled with a fluid, in particular a gas, for example air, before or while the underwater vehicle moves into the frame or after the underwater vehicle has reached its final position in the frame. The cushion(s) then prevent hard mechanical contact between the underwater vehicle and the frame, thereby reducing or even completely avoiding the risk of damage to the underwater vehicle by the frame. The cushion can form a frictional connection with the underwater vehicle.

[0019] In particular, it is possible for the fillable cushion(s) of the plurality of fillable cushions to be part of the holding mechanism, wherein the holding mechanism further comprises an auxiliary unit configured to fill the fillable cushion(s) with a fluid, in particular water or air, upon a predetermined event in order to fix the unmanned underwater vehicle in the frame. For example, the cushions can be filled with the fluid when the trigger mechanism has been actuated as a predetermined event. It is also possible for the filling, in particular the inflation, of the cushions to be triggered manually by an operator.

[0020] It is possible, for example, for the device to lower the underwater vehicle from the platform into the water with the inflated cushion(s). There, a pump, for example, can pump the fluid from the cushion into a container, in particular a pressurised gas container. This causes the cushion(s) to expand and the underwater vehicle to be released. To be retrieved, the underwater vehicle returns to the device with the expanded cushions, whereupon the cushions are refilled with fluid using the auxiliary unit to secure the underwater vehicle again. When the pressurised gas container is used, the cushions can also be filled without a pump, so the pressurised gas container can be regarded as an auxiliary unit for filling the cushions. As an alternative to filling using the pump, the pressurised gas container can, in the above-mentioned case, be initially filled when the underwater vehicle is lowered into the water.To deflate the cushions, the fluid in the cushions is released into the surrounding water. Using the pressurized gas cylinder, the cushions can be automatically inflated as soon as the command is given, for example, by activating the release mechanism. In this case, no pump is required. It is also possible to use the pump or another pump as an auxiliary unit. This allows the pump or another pump to fill the cushions with the fluid, for example, the water surrounding the device.

[0021] Alternatively, it is possible for the cushions to be permanently filled with the fluid. The size of the fillable cushions can be determined such that the fully filled cushions provide buoyancy for the device that is greater than or equal to the buoyancy of the rest of the device. For example, it is possible for the device to float in the water with partially or fully inflated cushions. The fact that the cushions are only partially filled so that the device floats in the water enables, for example, adaptation to different environmental conditions, e.g. water densities, for example due to a change in salinity or a different temperature. By floating, it is not necessary for the device, in particular the frame, to be kept floating in the water by propulsion.In general, the inflatable cushions allow the device to be trimmed between a certain downforce (empty cushions) and a maximum buoyancy (fully inflated cushions).

[0022] In this case, a gas is advantageously used as the fluid to inflate the cushions. If the cushions also serve as a holding mechanism, the complete inflation of the cushions usually also depends on the size of the underwater vehicle.

[0023] A cushion can be arranged in a ring around the frame. Additionally or alternatively, it is possible to arrange several cushions locally (at specific points) on the rods.

[0024] Advantageously, the inflatable cushions are reusable. This means that after filling, they can be emptied and refilled. Furthermore, it is advantageous to provide cushions at multiple axial positions, rather than just one. This allows for a redundant retention mechanism, so that the underwater vehicle remains secured in the frame if a cushion can no longer be filled, for example, if it is leaking and the fluid escapes during filling.

[0025] In further embodiments, the frame is designed as a partial shell. This makes it possible, for example, for the underwater vehicle to be inserted into the partial shell from above, or for the partial shell to approach the underwater vehicle from below. This reduces the risk of a collision between the frame and the underwater vehicle.

[0026] Preferred embodiments of the present invention are explained below with reference to the accompanying drawings. They show:

[0027] Fig. 1: a schematic perspective view of an underwater vehicle with a device for receiving the underwater vehicle, wherein the underwater vehicle in Fig. 1a enters the device, in Fig. 1b and Fig. 1c the underwater vehicle is fixed in the device by two different means;

[0028] Fig. 2: a schematic perspective view of an underwater vehicle fixed in the device, wherein Fig. 2a, Fig. 2b and Fig. 2c each show different embodiments for fixing the underwater vehicle;

[0029] Fig. 3: a schematic perspective view of the device for receiving the underwater vehicle, wherein Fig. 3a and Fig. 3b reveal different designs of the pulling point of the pulling means on the frame of the device and Fig. 3c reveals a design of the frame.

[0030] Before exemplary embodiments of the present invention are explained in more detail below with reference to the drawings, it is pointed out that identical, functionally equivalent or equivalent elements, objects and / or structures in the different figures are provided with the same reference numerals, so that the description of these elements shown in different exemplary embodiments is interchangeable or can be applied to one another.

[0031] Fig. 1a shows a schematic perspective view of a device 20 for accommodating an unmanned watercraft 22. The device 20 has a frame 24 into which the underwater vehicle 22 is currently moving or from which it is currently moving. Moving in and out describes a relative speed between the frame and the underwater vehicle. This means that when the underwater vehicle moves into the frame, it is also possible in principle for the underwater vehicle to remain stationary (so-called hovering) while the frame is folded over the underwater vehicle (moving in) or moving away from the underwater vehicle (moving out). The frame has, for example, a funnel-shaped opening.

[0032] Fig. 1 b discloses a schematic perspective view of the underwater vehicle 22 located in the frame 24. Additionally, a holding mechanism 26 is shown, which is designed to establish a mechanical connection between the unmanned underwater vehicle and the frame in order to fix the unmanned underwater vehicle in the frame. The holding mechanism can comprise or consist of, for example, a hook, such as a snap hook, and a corresponding eyelet.

[0033] Fig. 1c shows the same illustration as Fig. 1b, but with a different design of the holding mechanism 26. The holding mechanism 26 is designed as a fillable cushion. The cushion 26 can optionally be filled with a gas using an auxiliary unit 28, for example, a compressed gas container, if the holding mechanism is intended to fix the underwater vehicle 22 in the frame 24. Additionally or alternatively, it is possible to provide a pump (not shown) as an auxiliary unit, which fills the cushion 26 with a fluid. This can also be the surrounding water, for example.

[0034] Fig. 2a shows a schematic perspective view of the device 20 from Fig. 1a with a further holding mechanism 26. The frame 24 has rods 24' that are rotatably mounted, for example, by means of joints 29. When closed, the rods 24' can fix the underwater vehicle 22 in the frame 24. Fig. 1a shows the open state, while Fig. 2a shows the closed state of the rods.

[0035] Fig. 2b shows a modification of the embodiment of Fig. 2a. Additionally, cushions are arranged on the rods 24' as part of the holding mechanism 26. The cushions can be permanently filled and prevent contact of the underwater vehicle 22 with the frame. Alternatively, it is also possible, for example, as described with regard to Fig. 1c, to fill the cushions with the fluid. The filling of the cushions with the fluid can take place, for example, in parallel with or after the rods 24' are closed.

[0036] Fig. 2c shows a frame 24 designed as a partial shell. The underwater vehicle 22 does not necessarily need to enter the device 20 from the front, but can also be inserted from above, which also implies that the frame performs the majority of the relative movement between the frame and the underwater vehicle. Fixation is achieved, for example, by means of one or more movable rods 24' and / or by means of inflatable cushions 26.

[0037] It should be noted that in all illustrations with cushions, an axial position on the frame has been selected. However, it remains possible to arrange the cushion(s) at a different axial position and / or to provide one or more additional cushions at one or more additional axial positions. Likewise, instead of the annular cushions shown, individual cushions distributed at points around the circumference can also be used. The design is advantageously such that the underwater vehicle is only contacted at mechanically robust positions.

[0038] In Fig. 3a, the device 20 is shown with a traction mechanism 30 arranged on the front side of the frame. The traction mechanism 30 connects the platform 31 to the frame 24 of the device. In this example, as well as in the other examples, the control unit(s) and / or (passive) depressors can ensure that the frame lies essentially horizontally in the water.

[0039] Fig. 3b shows the device 20 with the traction means 30. However, here the traction means 30 is not arranged on the front side as in Fig. 3a, but on the top of the frame 24. In particular, the traction means is arranged above the (length and width) center of gravity (in particular vertically above the center of gravity) of the frame with the underwater vehicle accommodated therein. Due to the upper traction point, the frame lies more upright in the water and depressors can be omitted or they can be smaller than in the example from Fig. 3a. Furthermore, it is easier to lift the frame onto the platform using a crane (if the platform is not an underwater vehicle) than if the traction means is arranged on the nose of the frame. In the latter case, the underwater vehicle hangs downwards. With a central traction point, the frame with the underwater vehicle can be lifted essentially horizontally.However, the front-end tow point makes it easier to pull the frame with the underwater vehicle up a platform ramp. Optionally, the tow mechanism 30 is connected to the frame 24 by means of a movable fork 30'. Additionally or alternatively, it is possible to provide multiple tow points on the frame. This makes it possible to secure the frame using a crossbeam.

[0040] Fig. 3c shows the frame 24 of the device 20. In addition to the longitudinal bars 24', i.e., the axially extending bars, the frame has connecting elements 32. The connecting elements preferably extend substantially radially around the frame. For example, it is possible to stretch a net over the bars as a connecting element.

[0041] It should be noted that in the figures, the frame is shown open, with the frame being defined by the rods. However, it is also possible for the frame to be partially or completely closed. This increases protection for the underwater vehicle, for example, during retrieval.

[0042] Although some aspects have been described in connection with a device, it is 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. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block, detail, or feature of a corresponding device.

[0043] The above-described embodiments are merely illustrative of the principles of the present invention. It is understood that modifications and variations of the arrangements and details described herein will be apparent to others skilled in the art. Therefore, it is intended that the invention be limited only by the scope of the following claims and not by the specific details presented in the description and explanation of the embodiments herein. List of Reference Symbols:

[0044] 20 Device

[0045] 22 unmanned underwater vehicle 24 frame

[0046] 26 Holding mechanism

[0047] 28 Auxiliary unit

[0048] 29 movable bearings / joints

[0049] 30 traction device 30' fork

[0050] 31 Water platform

[0051] 32 fasteners

Claims

Patent claims 1 . Device (20) for launching and / or picking up an unmanned underwater vehicle (22) below the water surface by means of a platform (31) having the following features: - a frame designed to at least partially enclose the unmanned underwater vehicle (22); - a holding mechanism which is designed to establish a mechanical connection between the frame (24) and the unmanned underwater vehicle (22) in order to fix the unmanned underwater vehicle (22) in the frame (24).

2. Device (20) according to claim 1, comprising a traction means (30) which is designed to connect the platform (31) to the frame (24), wherein the traction means (30) establishes a communication connection and / or a power supply as well as the mechanical connection to the frame (24).

3. Device (20) according to one of the preceding claims, wherein the frame (24) has a control unit or a plurality of control units which are designed to maneuver the frame (24) in the water.

4. Device (20) according to claim 2 and 3, wherein the control unit or the plurality of control units are designed to convert control information from the platform (31) into a movement of the frame corresponding to the control information.

5. Device (20) according to one of the preceding claims, comprising a sensor, in particular a plurality of sensors, which is designed to detect the unmanned underwater vehicle (22) in the water.

6. Device (20) according to claim 5, comprising a signal processing unit which is designed to maneuver the frame (24) based on sensor data of the sensor by means of the control unit or the control units in such a way that the frame (24) rotates around the unmanned underwater vehicle (22) or the unmanned underwater vehicle (22) moves into the frame (24) so ​​that the frame (24) at least partially encloses the unmanned underwater vehicle (22).

7. Device (20) according to one of the preceding claims, wherein an opening of the frame for receiving the unmanned underwater vehicle (22) is funnel-shaped.

8. The device (20) of claim 7, wherein the funnel-shaped opening is configured to be folded to narrow the opening and implement the retaining mechanism (26).

9. The device (20) of claim 8, wherein the frame (24) comprises a plurality of rods extending in a funnel shape from an anchor point of the frame to form a boundary of the funnel-shaped opening, the rods being rotatably mounted at the anchor point of the frame to enable the funnel to be folded together.

10. Device (20) according to claim 9, wherein one or more connecting elements, in particular a net, are arranged between the bars.

11. Device (20) according to one of the preceding claims, wherein the holding mechanism (26) for fixing the unmanned underwater vehicle (22) has a trigger mechanism, in particular an electrical trigger mechanism, wherein the trigger mechanism automatically initiates the fixing of the unmanned underwater vehicle (22) upon reaching a predetermined position of the watercraft relative to the frame (24).

12. Device (20) according to one of the preceding claims, wherein the frame (24) comprises an inflatable cushion or a plurality of inflatable cushions configured to protect the unmanned underwater vehicle (22) from hard mechanical contact with the frame (24).

13. The device (20) according to claim 12, wherein the inflatable cushion(s) of the plurality of inflatable cushions is / are part of the holding mechanism (26), wherein the holding mechanism (26) further comprises an auxiliary unit (28) configured to fill the inflatable cushion(s) with a fluid upon a predetermined event in order to fix the unmanned underwater vehicle (22) in the frame (24).

14. The device (20) according to claim 12 or 13, wherein a size of the inflatable cushions is determined such that the fully inflated cushions provide buoyancy of the device that is greater than or equal to the downforce of the rest of the device, so that the device floats in the water with partially or fully inflated cushions.

15. Device (20) according to one of the preceding claims, wherein the frame (24) forms a partial shell.

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