Unmanned surface vehicle for deploying and / or retrieving a tethered, unmanned underwater vehicle

Abstract

The invention relates to an unmanned surface vehicle (20) for mine hunting, comprising a tethered, unmanned underwater vehicle (22). The unmanned surface vehicle comprises a winch (24) for reeling in and / or unreeling a connection cable (26) for connecting the unmanned surface vehicle (20) to the tethered, unmanned underwater vehicle (22). The unmanned surface vehicle also comprises: a deployment device (28) for deploying the tethered, unmanned underwater vehicle (22) from the unmanned surface vehicle (20) into the water (36) surrounding the unmanned surface vehicle (20); and / or a retrieval device (30) for retrieving the tethered, unmanned underwater vehicle (22) from the water surrounding the unmanned surface vehicle (20), wherein the tethered, unmanned underwater vehicle (22) has a mine-hunting sonar system (42), wherein the tethered, unmanned underwater vehicle (22) is designed to transmit data from the sonar system to the unmanned surface vehicle (20) via the connection cable.

Description

[0001] Unmanned surface vehicle for deploying and / or retrieving a tethered, unmanned underwater vehicle

[0002] Description

[0003] The invention relates to the integration of an unmanned underwater vehicle into existing operations at sea, for example mine hunting.

[0004] The equipment of military forces, including the navy, is not very dynamic, partly due to the high purchase price of individual vehicles. The vehicles, for example ships, have a service life of 40 years or more. Nevertheless, the technology is constantly evolving. This is integrated into the vehicles whenever possible if it offers tactical advantages. It has now been shown that the use of tethered, unmanned underwater vehicles, so-called remotely operated vehicles (ROVs), can have major tactical advantages. For example, tethered, unmanned underwater vehicles can be used as depth-variable sonar and operate independently of any thermoclines in the water that make objects appear virtually invisible from the surface or whose location cannot be reliably located from the surface.The use of such a depth-variable sonar, for example, has a positive effect on the detection probability in mine hunting. However, integrating the tethered, unmanned underwater vehicles into existing vessels is very complex. In particular, a winch for handling the connecting cable, as well as a retrieval and deployment device, would have to be installed on the existing vessel.

[0005] The object of the present invention is therefore to create an improved concept for tethered, unmanned underwater vehicles. This object is achieved by the subject matter of the independent patent claims. Further advantageous embodiments are the subject matter of the dependent patent claims.

[0006] Examples show an unmanned surface mine-hunting vehicle with a tethered, unmanned underwater vehicle. The unmanned surface vehicle can operate autonomously or remotely (e.g., via radio or a connecting cable).

[0007] The unmanned surface vehicle includes a winch for rolling up and / or unrolling the connecting cable connecting the unmanned surface vehicle to the wired, unmanned underwater vehicle. Rolling up or unrolling the connecting cable includes, in particular, the deployment and retrieval of the wired, unmanned underwater vehicle, as well as the handling of the connecting cable during operation.

[0008] Furthermore, the unmanned surface vehicle comprises a deployment device for deploying the cable-linked, unmanned underwater vehicle from the unmanned surface vehicle into the water surrounding the unmanned surface vehicle and / or a retrieval device for retrieving the cable-linked, unmanned underwater vehicle from the water surrounding the unmanned surface vehicle. The deployment of the cable-linked, unmanned underwater vehicle can be carried out from the unmanned surface vehicle. The cable-linked, unmanned underwater vehicle can also be retrieved on board the unmanned surface vehicle. However, it is also possible, for example, for the cable-linked, unmanned underwater vehicle to be mechanically, i.e.In particular, it is connected to the unmanned surface vehicle using a more robust cable than an optical fiber cable and is towed in the water, at least a short distance compared to the total cable length, in order to pull the wired, unmanned surface vehicle up to the unmanned surface vehicle and out of the water using the cable. The idea is to create a separate system that allows wired, unmanned underwater vehicles to be used for mine hunting without modifying existing manned surface vehicles.Due to the high resolution required for mine hunting and the associated high frequencies of mine hunting sonars, it is advantageous for the tethered, unmanned underwater vehicle to be located very far forward, for example in the first quarter or first tenth, preferably at the head of a formation with the manned surface vehicle. Otherwise, due to the comparatively short range of sound at the high frequencies of the mine hunting sonar, it would be possible for the mine to be detected too late and the first vessels in the formation to trigger the mine. For this purpose, the unmanned surface vehicle can travel alongside a manned surface vehicle, and in particular be controlled by the same. Communication between the unmanned surface vehicle and the manned surface vehicle enables data to be exchanged practically as if the tethered, unmanned underwater vehicle were part of the manned surface vehicle.In this respect, a system comprising a manned surface vehicle and the unmanned surface vehicle with the wired, unmanned underwater vehicle is also disclosed. The manned surface vehicle and the unmanned surface vehicle can each have communication units, in particular radio units, to establish communication between the unmanned surface vehicle and the manned underwater vehicle.

[0009] A frequency of at least 20 kHz, preferably at least 40 kHz, and more preferably at least 65 kHz, is particularly suitable as a lower frequency limit for mine-hunting sonars. From this frequency, resolutions can be achieved that can image the comparatively small mines in such a way that they can be identified. The upper frequency limit is limited by the minimum range to be achieved by the mine-hunting sonar. Upper frequency limits up to 200 kHz, for example up to 125 kHz, still enable a comparatively large range of underwater sound. However, upper frequency limits up to 500 kHz, for example up to 450 kHz, are sometimes used. Exemplary embodiments show that the tethered, unmanned underwater vehicle has a mine-hunting sonar system, wherein the tethered, unmanned underwater vehicle is designed to transmit data from the sonar system to the unmanned surface vehicle via the connecting cable. This enables, for example,Compared to underwater communication, higher data rates for data exchange are possible. The connecting cable can therefore be a data cable or include one. An electrical or optical connection cable, for example, is suitable as a data cable. Bidirectional communication is also possible.

[0010] In further embodiments, the unmanned surface vehicle comprises a communications unit configured to transmit data, in particular data from the wired, unmanned underwater vehicle, to a base station. The data from the wired, unmanned underwater vehicle can be data from the sonar system. However, data from other sensors, such as images or videos from a camera, can also be sent to the unmanned surface vehicle. Bidirectional communication, e.g., with control signals for the unmanned surface vehicle, is also possible.

[0011] Additionally or alternatively, the connection cable can provide a power supply from the unmanned surface vehicle to the wired, unmanned underwater vehicle. The power supply can be part of the (electrical) data cable, or the connection cable can include a (separate) power cable independent of the data cable.

[0012] Further embodiments show the unmanned surface vehicle as a multihull. Multihulls have two or more hulls. Examples of two-hulled vessels are catamarans or so-called SWATHs (Small Waterplane Area Twin Hulls).

[0013] Advantageously, a cable is stretched between two hulls as a retrieval device on a multihull watercraft. This allows the cable to be caught with a retrieval device on the tethered, unmanned underwater vehicle in order to retrieve the tethered, unmanned underwater vehicle from the water surrounding the unmanned surface vehicle. Furthermore, the retrieval device can advantageously be closed when the cable is caught, thus creating a mechanical connection between the multihull watercraft and the tethered, unmanned underwater vehicle. A snap hook, for example, is suitable as a retrieval device. If the retrieval device is lockable, the retrieval device can advantageously be opened when needed to lift the tethered, unmanned underwater vehicle onto board the multihull watercraft. This can be done, for example, using a crane.

[0014] This means that the retrieval and deployment of the tethered, unmanned underwater vehicle can be carried out using a crane. The retrieval device and / or the deployment device can therefore comprise a crane. In the case of a multihull watercraft, it is advantageous to lower the tethered, unmanned underwater vehicle between two hulls of the multihull watercraft into the surrounding water or to retrieve it from the surrounding water. It has been found that the waves between the hulls of the multihull watercraft are smaller than those outside (i.e. in front of, behind or next to) the multihull watercraft, so that the tethered, unmanned underwater vehicle can be recovered more easily. However, it is also possible, particularly with the same crane, to recover the tethered, unmanned underwater vehicle outside the multihull watercraft or in front of, behind or next to the unmanned (monohull) surface vehicle, e.g. a ship.

[0015] In embodiments, the unmanned surface vehicle may include the tethered unmanned underwater vehicle. This may also be considered a system comprising the unmanned surface vehicle and the tethered unmanned surface vehicle.

[0016] In further embodiments, the retrieval device comprises a full ring or partial ring guided into the surrounding water, which has a flexible material on the surface and wherein an inner diameter of the ring is matched to an outer diameter of the cable-connected, unmanned underwater vehicle, such that the cable-connected, unmanned underwater vehicle can move into the ring, such that a part of the cable-connected, unmanned underwater vehicle passes through the ring until a diameter of the cable-connected, unmanned underwater vehicle is large enough for it to be fixed by the ring. This makes it possible to fix the cable-connected, unmanned underwater vehicle at least temporarily to the unmanned surface vehicle. This facilitates the picking up of the cable-connected, unmanned underwater vehicle on board the unmanned surface vehicle, for example by means of the crane.The ring automatically centers the tethered unmanned underwater vehicle. This means that the tethered unmanned underwater vehicle doesn't need to land at a specific point to be picked up. Simply having the bow touch the ring is sufficient. The ring also has the advantage that the tethered unmanned underwater vehicle can enter the ring at normal speed. The slower the tethered unmanned underwater vehicle travels, the more difficult it is to maneuver. Because the bow doesn't have a stop thanks to the ring, there's no risk of collision or damage to the tethered unmanned underwater vehicle during recovery.

[0017] In embodiments, the tethered, unmanned underwater vehicle has a sonar system configured to detect objects in the direction of travel of the tethered, unmanned underwater vehicle. This enables the use of the tethered, unmanned underwater vehicle as a depth-variable sonar.

[0018] In further embodiments, the tethered, unmanned underwater vehicle has a camera. This enables, for example, the identification of a sea mine after its detection. The sea mine can be detected using the sonar of the tethered, unmanned underwater vehicle or using the sonar of a manned surface vehicle. Preferably, the tethered, unmanned underwater vehicle has its own propulsion. The tethered, unmanned underwater vehicle is thus a remotely controlled tethered unmanned underwater vehicle (ROV).

[0019] Similarly, a method for mine hunting with the unmanned surface vehicle is disclosed, comprising the following steps: a) deploying the tethered, unmanned underwater vehicle from the unmanned surface vehicle into the water surrounding the unmanned surface vehicle, and b) using a mine hunting sonar of the tethered, unmanned underwater vehicle to detect mines in front of the unmanned surface vehicle. To detect the mine in front of the unmanned surface vehicle, it is advantageous if the tethered, unmanned surface vehicle travels in front of the unmanned surface vehicle and is in any case not towed by it. Preferred embodiments of the present invention are explained below with reference to the accompanying drawings. It shows:

[0020] Fig. 1 : a schematic rear view of an unmanned surface vehicle for deploying and / or retrieving a cable-based unmanned underwater vehicle.

[0021] 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.

[0022] Fig. 1 shows a schematic rear view of an unmanned surface vehicle 20, for example in the form of a multihull watercraft, for deploying and / or retrieving a cable-connected, unmanned underwater vehicle 22. The unmanned surface vehicle 20 has a winch 24 for rolling up and / or unrolling the connecting cable 26 for connecting the unmanned surface vehicle 20 to the cable-connected, unmanned underwater vehicle 22. The unmanned surface vehicle further comprises a deployment device 28 and a retrieval device 30. A crane is shown as the deployment device 28, for example. This crane can lower the cable-connected, unmanned underwater vehicle 22 into the water 36 through an opening in the hull 32 of the multihull watercraft 20 between the two hulls 34a, 34b.

[0023] The retrieval device, or at least a part of it, is a cable 30 stretched between the hulls 34a, 34b. By means of a catch device 38, e.g., a hook, the cable-connected, unmanned underwater vehicle 22 can catch the cable 30 and thus, for example, establish a resilient, mechanical connection with the unmanned surface vehicle 20. Optionally, the crane 28 is also part of the retrieval device, for example, when the cable-connected, unmanned underwater vehicle 22 is to be lifted on board the unmanned surface vehicle 20.

[0024] It should be noted that alternative retrieval and deployment devices can also be used instead of the cable and crane. For example, the tethered unmanned underwater vehicle can be retrieved by driving onto a ramp. Likewise, the tethered unmanned underwater vehicle can be deployed via the ramp.

[0025] The unmanned surface vehicle 20 may be physically connected (e.g., by means of a pull cable) or communicatively connected (e.g., by means of a data cable or radio) to a base station 40. The base station may be any platform, such as a manned surface vessel or a land station.

[0026] The tethered unmanned underwater vehicle 22 may include a sonar system 42 and / or a camera 44.

[0027] 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.

[0028] 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.

[0029] List of reference symbols:

[0030] 20 unmanned surface vehicles

[0031] 22 tethered unmanned underwater vehicle 24 winch

[0032] 26 cables

[0033] 28 Dispensing device, shown as a crane

[0034] 30 Retrieval device, shown as a rope

[0035] 32 Hull of the multihull vessel 34a, b Hull of the multihull vessel

[0036] 36 Water

[0037] 38 Safety gear

[0038] 40 base stations

[0039] 42 Sonar system 44 Camera

Claims

Patent claims 1 . Unmanned surface mine-hunting vehicle (20) with a tethered, unmanned underwater vehicle (22), having the following features: - a winch (24) for winding and / or unwinding a connecting cable (26) for connecting the unmanned surface vehicle (20) to the cable-connected, unmanned underwater vehicle (22); - a deployment device (28) for deploying the cable-based, unmanned underwater vehicle (22) from the unmanned surface vehicle (20) into the water (36) surrounding the unmanned surface vehicle (20) and / or a retrieval device (30) for retrieving the cable-based, unmanned underwater vehicle (22) from the water surrounding the unmanned surface vehicle (20) - wherein the wired, unmanned underwater vehicle (22) has a mine-hunting sonar system (42), wherein the wired, unmanned underwater vehicle (22) is designed to send data of the sonar system to the unmanned surface vehicle (20) by means of the connecting cable.

2. Unmanned surface vehicle (20) according to claim 1, comprising a communication unit which is designed to send data, in particular data from the wired, unmanned underwater vehicle (22) to a base station (40).

3. Unmanned surface vehicle (20) according to one of the preceding claims, wherein the connecting cable (26) establishes a power supply from the unmanned surface vehicle (20) to the wired, unmanned underwater vehicle (22).

4. An unmanned surface vehicle (20) according to any one of the preceding claims, wherein the unmanned surface vehicle is a multihull watercraft.

5. Unmanned surface vehicle (20) according to claim 4, wherein a cable is stretched between two hulls of the multihull watercraft as a retrieval device (30) so that a capture device (38) of the cable-linked, unmanned underwater vehicle (22) can catch the cable in order to retrieve the cable-linked, unmanned underwater vehicle from the water (36) surrounding the unmanned surface vehicle to the unmanned surface vehicle (20).

6. Unmanned surface vehicle (20) according to one of claims 4 or 5, wherein the retrieval device (30) and / or the deployment device (28) comprises a crane which is designed to lower the cable-connected, unmanned underwater vehicle (22) between two hulls (34a, 34b) of the multi-hull watercraft into the surrounding water or to retrieve it from the surrounding water.

7. An unmanned surface vehicle (20) according to any one of the preceding claims, wherein the unmanned surface vehicle comprises the tethered unmanned underwater vehicle (22).

8. Unmanned surface vehicle (20) according to one of the preceding claims, wherein the retrieval device (30) comprises a (full or partial) ring guided into the surrounding water (36), which ring has a flexible material on the surface and wherein an inner diameter of the ring is matched to an outer diameter of the cable-connected, unmanned underwater vehicle, so that the cable-connected, unmanned underwater vehicle can move into the ring, so that a part of the cable-connected unmanned underwater vehicle passes through the ring until a diameter of the cable-connected unmanned underwater vehicle is so large that it is fixed by the ring.

9. Unmanned surface vehicle (20) according to one of claims 7 or 8, wherein the tethered unmanned underwater vehicle has a sonar system (42) configured to detect objects in the direction of travel of the tethered unmanned underwater vehicle.

10. Unmanned surface vehicle (20) according to one of claims 7 to 9, wherein the tethered unmanned underwater vehicle has a camera (44).

11. Unmanned surface vehicle (20) according to one of the preceding claims, wherein the tethered unmanned underwater vehicle is a remotely operated tethered unmanned underwater vehicle [ROV].

12. A method for mine hunting with the unmanned surface vehicle according to one of the preceding claims, comprising the following steps: a) deploying the tethered, unmanned underwater vehicle (22) from the unmanned surface vehicle (20) into the water (36) surrounding the unmanned surface vehicle (20); b) using a mine hunting sonar of the tethered, unmanned underwater vehicle to detect mines in front of the unmanned surface vehicle.

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