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US20170259887A1 - Vehicle system comprising a mother ship and an unmanned watercraft, and method for recovering an unmanned watercraft - Google Patents

Vehicle system comprising a mother ship and an unmanned watercraft, and method for recovering an unmanned watercraft Download PDF

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Publication number
US20170259887A1
US20170259887A1 US15/509,974 US201515509974A US2017259887A1 US 20170259887 A1 US20170259887 A1 US 20170259887A1 US 201515509974 A US201515509974 A US 201515509974A US 2017259887 A1 US2017259887 A1 US 2017259887A1
Authority
US
United States
Prior art keywords
unmanned water
vehicle
water vehicle
floating body
unmanned
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US15/509,974
Other languages
English (en)
Inventor
Hinnerk Treyde
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ThyssenKrupp AG
ThyssenKrupp Marine Systems GmbH
Original Assignee
ThyssenKrupp AG
ThyssenKrupp Marine Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ThyssenKrupp AG, ThyssenKrupp Marine Systems GmbH filed Critical ThyssenKrupp AG
Assigned to THYSSENKRUPP AG, THYSSENKRUPP MARINE SYSTEMS GMBH reassignment THYSSENKRUPP AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: TREYDE, HINNERK
Publication of US20170259887A1 publication Critical patent/US20170259887A1/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/40—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B45/00—Arrangements or adaptations of signalling or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/40—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels
    • B63B2035/405—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels for carrying submarines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels

Definitions

  • the present invention relates to a vehicle system having a mother ship and an unmanned water vehicle, which can be received on the mother ship, wherein in order to recover the unmanned water vehicle by means of the mother ship a floating body which is connected to the mother ship via a line can be lowered in the water.
  • the invention further relates to a method for recovering an unmanned water vehicle by a mother ship, wherein a floating body which is connected to the mother ship via a line is lowered in the water.
  • Unmanned water vehicles do not comprise an individual crew and can operate as an unmanned underwater vehicle under the surface of the water or as an unmanned surface vehicle at the surface of the water.
  • unmanned water vehicles a distinction is made between water vehicles which are remote-controlled and water vehicles which operate autonomously.
  • unmanned water vehicles are used in the context of marine research.
  • autonomous water vehicles are used inter alia for clearing purposes, for example, in order to identify sea mines.
  • Unmanned water vehicles are generally lowered in the water from a mother ship and are recovered by the mother ship after the mission thereof has concluded.
  • vehicle system which is known from WO 2007/033 384 A with a mother ship and an unmanned water vehicle, there are deployed in order to recover the unmanned water vehicle a plurality of floating bodies, between which a cable extends.
  • the unmanned water vehicle carries a catch hook on a cable, with which the cable which extends between the two floating bodies is caught in order to produce contact between the unmanned water vehicle and the mother ship.
  • an object of the present invention is to reduce the stowage space necessary for the devices for recovering the unmanned water vehicle.
  • a vehicle system having a mother ship and an unmanned water vehicle which can be received by the mother ship, wherein in order to recover the unmanned water vehicle by means of the mother ship a floating body which is connected to the mother ship via a line can be lowered in the water, and wherein a catch device for catching the line is arranged on the unmanned water vehicle.
  • the line which extends between the floating body and the water vehicle can be caught by the catch device of the unmanned water vehicle so that contact between the unmanned water vehicle and the mother ship is produced. It is unnecessary to deploy a plurality of floating bodies in order to recover the unmanned water vehicle.
  • the number of components required to recover the unmanned water vehicle is reduced so that the stowage space necessary for stowing the components at the side of the mother ship and the unmanned water vehicle is also reduced.
  • the catch device is constructed in a fixed manner on the outer contour of the unmanned water vehicle. This involves the advantage that the catch device is ready for use continuously and an activation of the catch device is unnecessary before the recovery by the mother ship. It is further unnecessary to provide additional space in order to stow the catch device on board the unmanned water vehicle.
  • the catch device may be constructed in the manner of a catch hook or in the manner of a catch rod.
  • An alternative embodiment makes provision for the catch device to be brought from a rest position, in which the catch device is arranged inside the outer contour of the unmanned water vehicle, into a catch position, in which the catch device projects from the outer contour.
  • the catch device which is located internally in the rest position, the flow properties of the unmanned water vehicle are not impaired by the catch device.
  • the catch device In the catch position, the catch device preferably projects from the outer contour of the unmanned water vehicle in such a manner that the line can catch in the catch device during travel of the unmanned water vehicle past the floating body and contact between the unmanned water vehicle and the mother ship can be produced.
  • the floating body preferably has a transmission device for transmitting location signals so that the floating body can be located by the unmanned water vehicle.
  • a transmission device is particularly advantageous in order to recover autonomous water vehicles because the control of the autonomous water vehicle can be carried out on the basis of the located position of the floating body.
  • the location signals transmitted by the transmission device are preferably radio signals, underwater sound signals and/or light signals.
  • the unmanned water vehicle advantageously has a corresponding signal receiver.
  • the signal receiver may be constructed, for example, as a radio receiver, sound receiver, sonar and/or light detector.
  • a spacer which prevents the floating body from moving into abutment with the unmanned water vehicle. If the unmanned water vehicle continues to move in the water after the line has been caught by the catch device, there is the risk that the floating body may be drawn toward the unmanned water vehicle and damage may be caused to the unmanned water vehicle as a result of the contact with the floating body.
  • the spacer can prevent the floating body from being drawn so close to the unmanned water vehicle that it moves into abutment with the unmanned water vehicle.
  • a preferred embodiment of the method makes provision for the unmanned water vehicle to locate the floating body so that the unmanned water vehicle can maneuver on the basis of the located position of the floating body in the direction of the floating body.
  • the location of the floating body can be carried out by means of a signal receiver which is arranged on board the unmanned water vehicle for radio signals, sound signals and/or light signals.
  • a sonar system which is arranged on board the unmanned water vehicle for radio signals, sound signals and/or light signals.
  • the unmanned water vehicle circles around the floating body.
  • the probability can be increased that the catch device catches the line which connects the floating body to the mother ship. It is not necessary for the unmanned water vehicle to detect the extent of the line in order to catch it.
  • the circling action around the floating body can prevent the unmanned water vehicle and therefore also the weapon from having to be oriented toward the mother ship.
  • the circling of the unmanned water vehicle around the floating body further involves the advantage that an additional catch attempt is directly carried out within a short time period after an unsuccessful catch attempt, wherein it is attempted to catch the line with the catch device of the unmanned water vehicle.
  • the unmanned water vehicle circles completely around the floating body so that the unmanned water vehicle in any case moves near the line and the line can be caught by the catch device which is arranged on the unmanned water vehicle.
  • a control device of the water vehicle it is advantageous for a control device of the water vehicle to control the vehicle in such a manner that it circles around the floating body.
  • the movement of the unmanned water vehicle around the floating body may have the path of a circle, the path of an ellipse or the path of a spiral.
  • the travel depth of the unmanned water vehicle can be varied during the circling around the floating body in order to increase the probability of catching a line which extends under the surface of the water.
  • the unmanned water vehicle prefferably, the drive of the unmanned water vehicle is switched off when the unmanned water vehicle moves into abutment with a spacer which is arranged on the line and/or with the floating body.
  • the unmanned water vehicle is brought on board the mother ship by means of the line.
  • the unmanned water vehicle can be brought in the direction of the mother ship after the line has been caught.
  • the unmanned water vehicle can be pulled by means of the cable, for example, onto a ramp of the mother ship, or the cable can be guided through a davit in order to lift the unmanned water vehicle out of the water.
  • FIG. 1 is a schematic illustration of a first embodiment of a vehicle system according to the invention with an unmanned underwater vehicle.
  • FIG. 2 shows the vehicle system according to FIG. 1 , wherein the catch device of the unmanned water vehicle is in contact with the line between the floating body and the mother ship.
  • FIG. 3 shows the vehicle system according to FIG. 1 , wherein the catch device is in contact with the spacer.
  • FIG. 4 is a schematic illustration of a second embodiment of a vehicle system according to the invention with an unmanned surface vehicle.
  • FIG. 1 shows a first embodiment of the vehicle system 1 according to the invention with a military mother ship 2 and an unmanned water vehicle 3 which is constructed as an autonomous underwater vehicle.
  • the unmanned water vehicle 3 is used to detect and to clear sea mines.
  • particular provisions which are intended to be described below are carried out in the vehicle system 1 .
  • a floating body 4 which is in the form of a buoy and which is connected to the mother ship 2 via a line 5 . Furthermore, there is arranged on the unmanned water vehicle 3 a catch device 9 , with which the line 5 which extends between the floating body 4 and the mother ship 2 can be caught in order to produce contact between the mother ship 2 and the unmanned water vehicle 3 .
  • the catch device 9 of the unmanned water vehicle 3 is constructed in the manner of a hooked rod.
  • the catch device 9 has at least one hook-like region in which the line 5 can be caught.
  • the catch device 9 may be arranged in a fixed manner on the outer contour of the unmanned water vehicle 3 .
  • the catch device may be constructed so as to be displaceable so that it can be moved from a rest position, in which the catch device 9 is arranged inside the outer contour of the unmanned water vehicle 3 , into a catch position, in which the catch device 9 projects from the outer contour of the unmanned water vehicle 3 .
  • the unmanned water vehicle 3 is brought by the mother ship 2 near the area of use thereof and is launched so that the unmanned water vehicle 3 can carry out its mission in the area of use.
  • the floating body 4 is stored on board the mother ship 2 and is launched in order to recover the unmanned water vehicle 3 after the mission has ended so that it is propelled to the water surface W.
  • the floating body 4 is connected to the mother ship 2 via the line 5 and therefore remains in the environment of the mother ship 2 .
  • the mother ship 2 may selectively be moved or may stand in the water in a substantially non-moving manner.
  • the floating body 3 is a buoy which is provided with a transmission device in order to transmit location signals. There are emitted via the transmission device of the floating body 4 radio signals which are received by the unmanned water vehicle 3 . Alternatively or additionally, underwater sound signals and/or light signals may be transmitted by the floating body 4 .
  • the unmanned water vehicle 3 locates the floating body 4 .
  • the unmanned water vehicle 3 is controlled by a control device of the unmanned water vehicle 3 in such a manner that it moves in the direction of the floating body 4 . If the unmanned water vehicle 3 has a displaceable catch device 9 , the catch device 9 is brought into the catch position thereof as soon as the unmanned water vehicle 3 reaches the region of the floating body 3 .
  • the unmanned water vehicle 3 is controlled in such a manner that the unmanned water vehicle 3 circles around the floating body 4 .
  • the circling action involves the advantage that a plurality of catch attempts can be carried out in a short time period. Furthermore, the risk of a collision of the unmanned water vehicle 3 with the mother ship 2 is reduced during the catching operation and/or during surfacing as a result of the distance of the floating body 4 from the mother ship 2 , which distance is predetermined by the length of the line 5 .
  • the catch device 9 finally comes into contact with the line 5 during circling around the floating body 4 and the line 5 is caught in the catch device 9 .
  • the line 5 is pulled by the catch device 9 so that the floating body 4 and the unmanned water vehicle 3 move toward each other.
  • a spacer 6 is provided on the line 5 . As illustrated in FIG. 3 , the unmanned water vehicle 3 strikes the spacer 6 after the line 5 has been caught. As soon as the unmanned water vehicle 3 is in abutment with the spacer 6 , the drive of the unmanned water vehicle 3 is switched off.
  • the line 5 is then pulled in the direction of the mother ship 2 by a hauling device 7 of the mother ship 2 in order to haul in the line 5 together with the unmanned water vehicle 3 and the floating body 4 .
  • the unmanned water vehicle 3 is either pulled onto the mother ship 2 via a ramp 8 of the mother ship 2 or it is lifted out of the water via a davit of the mother ship 2 .
  • the line 5 may extend below the water surface W and may be caught at that location by the catch device 9 of the unmanned water vehicle 3 .
  • An extent of the line 5 under the water surface W is particularly advantageous in the case of heavy waves.
  • FIG. 4 illustrates a second embodiment of the vehicle system 1 according to the invention.
  • the unmanned water vehicle 3 is constructed as a remote-controlled surface vehicle which is used for clearance purposes.
  • the unmanned water vehicle 3 can be recovered by the mother ship 2 and received on the mother ship 2 with the method described in connection with the first embodiment.
  • the above-described vehicle system 1 has a mother ship 2 and an unmanned water vehicle 3 which can be received on the mother ship 2 , wherein a floating body 4 which is connected to the mother ship 2 via a line 5 can be lowered in the water in order to recover the unmanned water vehicle 3 by means of the mother ship 2 , and wherein a catch device 9 for catching the line 5 is arranged on the unmanned water vehicle 3 .
  • a floating body 4 which is connected to the mother ship 2 via a line 5 is lowered in the water and a catch device 9 which is arranged on the unmanned water vehicle 3 catches the line 5 in order to produce contact between the mother ship 2 and the unmanned water vehicle 3 .
  • the number of components required to recover the unmanned water vehicle 3 is reduced so that the stowage space necessary for stowing the components is also reduced at the side of the mother ship 2 and the unmanned water vehicle 3 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
US15/509,974 2014-09-12 2015-07-13 Vehicle system comprising a mother ship and an unmanned watercraft, and method for recovering an unmanned watercraft Abandoned US20170259887A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014113184.3 2014-09-12
DE102014113184.3A DE102014113184A1 (de) 2014-09-12 2014-09-12 Fahrzeugsystem mit einem Mutterschiff und einem unbemannten Wasserfahrzeug und Verfahren zum Bergen eines unbemannten Wasserfahrzeugs
PCT/EP2015/065960 WO2016037733A1 (fr) 2014-09-12 2015-07-13 Système de véhicules avec un navire-mère et un navire sans équipage et procédé pour remonter hors de l'eau un navire sans équipage

Publications (1)

Publication Number Publication Date
US20170259887A1 true US20170259887A1 (en) 2017-09-14

Family

ID=53682672

Family Applications (1)

Application Number Title Priority Date Filing Date
US15/509,974 Abandoned US20170259887A1 (en) 2014-09-12 2015-07-13 Vehicle system comprising a mother ship and an unmanned watercraft, and method for recovering an unmanned watercraft

Country Status (7)

Country Link
US (1) US20170259887A1 (fr)
EP (1) EP3191362B1 (fr)
KR (1) KR20170038068A (fr)
AU (1) AU2015314614B2 (fr)
DE (1) DE102014113184A1 (fr)
ES (1) ES2763105T3 (fr)
WO (1) WO2016037733A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017209514B4 (de) 2017-06-06 2025-10-09 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zum Aufnehmen eines Unterwasserfahrzeugs

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2526348A (en) * 1945-11-16 1950-10-17 Saunders Roe Ltd Pickup hook for flying boats
US5396859A (en) * 1993-09-13 1995-03-14 The United States Of America As Represented By The Secretary Of The Navy System for effecting underwater coupling of optical fiber cables characterized by a novel V-probe cable capture mechanism
FR2994560A1 (fr) * 2012-08-17 2014-02-21 Thales Sa Dispositif permettant de remorquer un engin sous-marin autonome

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2601323B1 (fr) * 1986-07-10 1988-10-07 France Etat Armement Procede et dispositif d'assistance a la manutention d'une charge flottante
US5377165A (en) * 1994-05-05 1994-12-27 The United States Of America As Represented By The Secretary Of The Navy Communication system for submarines
US7025014B1 (en) * 2004-03-03 2006-04-11 The United States Of America As Represented By The Secretary Of The Navy Sea vessel retrieval of unmanned underwater vehicles
WO2007033384A2 (fr) 2005-09-16 2007-03-22 Bae Systems Land & Armaments L.P. Systeme de lancement et de recuperation
DE102013207731A1 (de) * 2013-04-26 2014-10-30 Atlas Elektronik Gmbh Autonomes Unterwasserfahrzeug und Verfahren zum Einholen eines solchen

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2526348A (en) * 1945-11-16 1950-10-17 Saunders Roe Ltd Pickup hook for flying boats
US5396859A (en) * 1993-09-13 1995-03-14 The United States Of America As Represented By The Secretary Of The Navy System for effecting underwater coupling of optical fiber cables characterized by a novel V-probe cable capture mechanism
FR2994560A1 (fr) * 2012-08-17 2014-02-21 Thales Sa Dispositif permettant de remorquer un engin sous-marin autonome

Also Published As

Publication number Publication date
EP3191362A1 (fr) 2017-07-19
EP3191362B1 (fr) 2019-09-25
AU2015314614B2 (en) 2018-08-02
AU2015314614A1 (en) 2017-03-02
DE102014113184A1 (de) 2016-03-17
WO2016037733A1 (fr) 2016-03-17
KR20170038068A (ko) 2017-04-05
ES2763105T3 (es) 2020-05-27

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