EP4100312A1 - Boîte de transport pour la mise en place d'une embarcation - Google Patents

Boîte de transport pour la mise en place d'une embarcation

Info

Publication number
EP4100312A1
EP4100312A1 EP21736544.4A EP21736544A EP4100312A1 EP 4100312 A1 EP4100312 A1 EP 4100312A1 EP 21736544 A EP21736544 A EP 21736544A EP 4100312 A1 EP4100312 A1 EP 4100312A1
Authority
EP
European Patent Office
Prior art keywords
transport box
watercraft
water
frame
designed
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.)
Granted
Application number
EP21736544.4A
Other languages
German (de)
English (en)
Other versions
EP4100312B1 (fr
Inventor
Christian Rühle
Malte SACKMANN
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
Atlas Elektronik GmbH
Original Assignee
ThyssenKrupp AG
Atlas Elektronik 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, Atlas Elektronik GmbH filed Critical ThyssenKrupp AG
Publication of EP4100312A1 publication Critical patent/EP4100312A1/fr
Application granted granted Critical
Publication of EP4100312B1 publication Critical patent/EP4100312B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • 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
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C3/00—Launching or hauling-out by landborne slipways; Slipways
    • B63C3/12—Launching or hauling-out by landborne slipways; Slipways using cradles
    • 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

Definitions

  • the invention relates to a transport box for setting down an unmanned watercraft, in particular an unmanned (e.g. wired) underwater vehicle, by means of a traction device (e.g. a cable winch), e.g. from a helicopter or another base station.
  • a traction device e.g. a cable winch
  • unmanned underwater vehicles are launched from a ship and sent on their mission.
  • a typical mission of unmanned underwater vehicles is the destruction of sea mines.
  • the need has arisen to be able to drop the unmanned underwater vehicles from the helicopter.
  • the object of the present invention is therefore to create an improved concept for setting down watercraft.
  • Exemplary embodiments show a transport box for lowering a watercraft into the water by means of a cable winch.
  • the transport box has a holder for fastening the traction means for lowering the transport box and a frame which is designed to receive the watercraft in the transport box, in particular to fix it.
  • the transport box is designed to accommodate the watercraft on the top and to set it down in the water on the underside.
  • the invention is described in the context of watercraft, which also includes (unmanned) ships, but is mainly for Underwater vehicles, for example autonomous (AUV) or cable-guided (ROV) unmanned underwater vehicles designed, which are maximally the size of a person.
  • the invention is also suitable for other underwater vehicles, for example torpedoes, but these are typically larger than a person, so that the transport box would then have to be larger than a typical rescue stretcher.
  • some exemplary embodiments exclude the use of surface vehicles (eg ships). These are primarily the exemplary embodiments in which the frame of the transport box rotates automatically due to its buoyancy when the transport box is immersed in the water.
  • the watercraft is inevitably exposed under water.
  • Both (diving) underwater vehicles and (floating) surface vehicles, for example ships, are referred to as watercraft.
  • the transport box is also advantageously used for unmanned watercraft. Human-crewed watercraft would be too big to be dropped off from a helicopter.
  • the transport box was developed for use with a helicopter. However, it has been shown that this also makes it easier to set down the transport box from a ship, for example.
  • the on-board crane is used with a special launching device to lower the unmanned watercraft from the ship.
  • the launching device is placed on the underwater vehicle from above, which requires manual carrying or a lifting device.
  • the mission preparation takes place unprotected on deck so that the watercraft with launching device can be picked up by the on-board crane.
  • the stressed transport box which can be loaded from above, increases personal safety and flexibility during the missions, even on a ship.
  • the transport box In addition to being used in a helicopter or on a ship, it is also possible to use the transport box to set it down by means of the traction means from any other base station, for example an oil platform or a port facility.
  • base station also includes the helicopter and the ship.
  • the water is typically sea water, i.e. salt water, since this is where the predominant areas of application for unmanned watercraft are located.
  • the transport box can also be used in fresh water.
  • a rope preferably in the form of a cable winch, is used as the traction means.
  • This can be the rescue winch that is attached to many helicopters as standard.
  • the rescue winch is intended for the recovery of people who can be pulled from the ground into the helicopter on a rescue stretcher.
  • the transport box can now be lowered from the helicopter and pulled up again using the rescue winch.
  • the transport box advantageously has the maximum dimensions of the rescue stretcher, so that it can be handled by the helicopter personnel like the rescue stretcher.
  • a telescopic rod or the like would also be conceivable, for example, in order to lower the transport box from the helicopter into the water.
  • the helicopter can also have a further winch, e.g. in connection with a boom, with which the transport box can then be lowered into the water. It has been shown that the transport box can also simplify lowering the watercraft from a ship or another base station.
  • a boom with a cable winch e.g. in the form of an on-board crane, with which the watercraft is lowered into the water, can be arranged on the base station.
  • the holder is, for example, a bracket for the transport box.
  • the frame is mechanically connected to the holder and is typically located below the holder when the transport box is suspended freely floating on the traction means by means of the holder.
  • the transport box is primarily designed for multiple use with a watercraft that has been used once. This is necessary because the underwater vehicle itself is destroyed when the sea mine is destroyed.
  • the idea is to create a simple transport box that can be used for standard helicopters to lower the watercraft from the helicopter into the water and drop off there. This is made possible by the bracket that can be attached to the helicopter's rescue winch. Furthermore, for safety reasons, it is to be avoided as far as possible to carry heavy objects in the helicopter, such as the watercraft or the transport box, or to move them with the hands without them being fixed.
  • the transport box since the transport box is to be used for several watercraft during an operation, and also to increase personal safety, the transport box in the helicopter is advantageously loaded from above, while the transport box itself rests securely on the cabin floor of the helicopter. In contrast, it is advantageous to lower the watercraft down into the water.
  • the frame is movable relative to the holder in order to receive the watercraft on the upper side and to release it into the water on the lower side.
  • the frame can have a two-part opening on its underside, similar to a two-shell shovel in an excavator, which the watercraft releases when it is to be set down in the water.
  • the frame can also perform a rotational movement about an axis that leads through the holder. Then the opening of the frame through which the transport box is loaded is the same opening through which the watercraft is lowered into the water. However, due to the rotation of the frame, the opening is arranged on the top when loading and on the underside of the transport box when the watercraft is set down.
  • Relative terms for the orientation (top, bottom) referring to the transport box refer to the transport box in the orientation in which it hangs freely on the traction device.
  • Relative terms for orientation (top, bottom) referring to the Watercraft refer to the preferred orientation of the watercraft when moving in the water.
  • the watercraft in particular, but also sensitive components that are necessarily exposed for the fulfillment of a mission, are protected against water hammer by the frame when immersed in the water, for example.
  • the watercraft and / or the components are then released in the water by the movement of the frame so that the mission can be completed.
  • Exemplary embodiments show the transport box that receives the watercraft in a first orientation and sets the watercraft down in the water in a second orientation. This is advantageous, for example, for securing the watercraft.
  • the watercraft typically has a bracket on the top to which the watercraft can be fixed. In order to fill the transport box from above and at the same time ensure the continuous fixation of the watercraft, it is therefore advantageous to place the watercraft upside down in the frame. However, the watercraft should be dropped into the water in its normal orientation. To do this, it can be rotated in the transport box.
  • the frame is connected to the bracket by means of a hinge, so that the frame can be rotated about an axis of rotation of the hinge in order to pick up the watercraft on the top and release it into the water on the underside. Because the hinge is connected to the holder, the axis of rotation passes through the holder.
  • the frame can be rotated by an (electric) motor.
  • the transport box can also set the watercraft down above the surface of the water.
  • This embodiment is also suitable for the setting down of ships as a watercraft.
  • the frame has a buoyancy element which has a lower density than the water, so that the frame assumes a first position in the air with respect to the holder and a second position in the water Assumes position opposite the bracket in order to receive the watercraft on the top side and to release it into the water on the underside.
  • the buoyancy element is designed in such a way that the entire frame and all elements firmly connected to the frame have a lower average density, that is to say in total a lower density, than the water.
  • the frame when the transport box is lowered, the frame can initially hang on the holder in such a way that the holder spans the opening of the frame through which the transport box can be loaded with the watercraft. This can be called the first position.
  • the frame As soon as the frame is immersed in the water, however, it can move relative to the holder, in particular rotate about an axis of rotation that runs through the holder. This is possible, for example, when the holder and frame are connected to one another by means of the hinge. If the transport box is completely underwater, the frame may have rotated 180 °, for example. The opening for loading the transport box now points downwards. This can be called the second position. The watercraft can leave the transport box again through this opening.
  • the transport box has the absence of a wired electrical connection to an operating unit when the transport box is lowered into the water.
  • the control unit is located in the base station.
  • the transport box can be connected to the base station by means of a cable, for example in order to charge a battery in the transport box or to exchange larger amounts of data.
  • a cable for example in order to charge a battery in the transport box or to exchange larger amounts of data.
  • the watercraft comprises an underwater vehicle.
  • the transport box of this exemplary embodiment is advantageously suitable for underwater vehicles.
  • the transport box has a direction finding system which is designed to determine a current position of the underwater vehicle.
  • the current position is typically determined relative to the direction finding system.
  • the direction finding system can acoustically locate the underwater vehicle, i.e. determine a direction and / or a distance to the underwater vehicle. This can be done using active sonar.
  • the underwater vehicle can acoustically emit a signal at a predetermined point in time, which signal is detected by the direction finding system.
  • the transit time can be determined as the difference between the predetermined point in time and the arrival of the signal at the direction finding system.
  • the direction from which the signal arrives can be determined by means of at least two, if azimuth and elevation (also referred to as depth angle) are to be measured, at least three, water-borne sound transducers (also referred to as hydrophones).
  • the exemplary embodiments with the direction finding system are preferably suitable for underwater vehicles.
  • Surface vehicles would be easier to locate, e.g. using radar, directly from the base station.
  • the transport box has a computing unit which is designed to control the underwater vehicle to a target position based on the current position of the underwater vehicle.
  • the target position is typically subject to a certain degree of uncertainty, so that the underwater vehicle itself can perform fine localization (also referred to as re-localization) in the vicinity of the target position, in particular by means of active sonar or underwater camera, in order to locate the target regardless of the accuracy of the to find the set target position.
  • the processing unit can also be arranged in the base station and the transport box can be controlled from there.
  • the direction finding system is arranged in the transport box such that a sensor head of the direction finding system is arranged between the frame and the holder while the transport box is being lowered into the water and the sensor head of the direction finding system is arranged in the water below the frame and the holder.
  • the direction finder system is connected to the frame and the frame rotates in the water around an axis through the bracket.
  • the sensor head of the DF system has the water-borne sound converter.
  • the direction finding system in particular the sensor head, is at least partially protected by the holder and the frame during lowering, but in the water it can receive water-borne sound from almost all directions without it being deflected or attenuated by the frame.
  • the transport box has a receptacle for a dispenser of a signal line of the watercraft, the receptacle cooperating with the dispenser in such a way that the dispenser is arranged between the frame and the holder while the transport box is being lowered into the water and an outlet of the dispenser after the watercraft has been set down, it protrudes deeper into the water than all other elements of the transport box.
  • the dispenser of the signal line is at least partially protected by the holder and the frame during lowering, but the signal line cannot get caught in the water with an element of the transport box even if the watercraft is driving in a circle at the height of the outlet. The signal line is thus protected.
  • the signal line is, for example, an optical fiber with which the watercraft is connected to the transport box, advantageously during the entire mission.
  • the watercraft is thus a wired unmanned underwater vehicle.
  • the watercraft can be steered to the target position by means of the signal line, for example based on the current positions determined by the direction finding system.
  • the signal line can also be used to transmit a signal to the watercraft that it is to send out the acoustic signal for direction finding by means of the direction finding system.
  • Additional information that can be transmitted over the signal line is Status data and measured values from the underwater vehicle's sensors (e.g. sonar data), which are transmitted to the operator in the base station, for example.
  • the point in time at which the signal is transmitted is also referred to as the predetermined point in time.
  • the signal for sending the acoustic signal can be sent manually by an operator from the base station or automatically (eg time-controlled) to the watercraft.
  • the dispenser itself can also be part of the transport box.
  • the transport box then has the dispenser for the signal line of the watercraft, the dispenser being arranged in the transport box in such a way that the dispenser is protected by the frame and the holder while the transport box is lowered into the water and an outlet of the dispenser after it has been set down of the watercraft protrudes deeper into the water than all other elements of the transport box.
  • the signal line can then advantageously be connected to the watercraft by means of a plug.
  • the signal line can be wound up in the dispenser, so that there is always enough signal line available so that the watercraft can fulfill its mission.
  • the dispenser can also only serve as protection for the part of the signal line that is connected to the transport box, so that this part of the signal line does not get caught in the transport box.
  • a supply of further signal lines is optionally available in the watercraft.
  • the frame has a quick-release fastener which is designed to receive a holding device connected to the watercraft and to fix it automatically, the quick-release fastener being designed to release the fixation when the quick-release fastener receives a corresponding signal.
  • the processing unit of the transport box can be controlled from the base station in such a way that the processing unit sends the signal for releasing the holding device to the quick-release fastener.
  • the quick-release fastener is characterized by an uncomplicated fixation of the holding device with a maximum of one movement. In particular, turning a screw into a thread over more than one turn can no longer be carried out with a single handle and can therefore no longer be viewed as a quick-release fastener.
  • the quick release includes for example, several claws similar to a drill chuck, into which the holding device engages when the holding device is inserted into the claws.
  • the holding device can be a (metal) pin, ball head or an eyelet that matches the quick release fastener or its holding claws.
  • the watercraft can have a corresponding receptacle for the holding device, for example a thread, in order to be able to connect the holding device to the watercraft.
  • Embodiments show the transport box comprising a float which has an antenna which is designed to receive a signal from an operating unit and to forward it to a computing unit of the transport box or to send a signal from the computing unit to the operating unit, the float being designed to be movable to be arranged on the traction means.
  • the transport box is shown in a system comprising the base station for lowering the watercraft into the water.
  • the float is movably arranged in the system above the bracket on the traction means.
  • the float can move freely along the traction mechanism, so that it is always on the surface of the water, regardless of the depth of the transport box.
  • a signal line can be arranged between the antenna and the processing unit in order to forward the signal from the base station to the processing unit.
  • the transport box can also be used underwater by means of a wireless connection, for example a radio connection, e.g.
  • WLAN Wireless Local Area Network
  • data from the watercraft can be sent to the base station via the wireless connection.
  • One possible signal that can be sent from the base station to the transport box is the lowering of the watercraft into the water, i.e. in exemplary embodiments the opening of the fixing element or the quick-release fastener.
  • Embodiments also show a system comprising the transport box for lowering a watercraft by means of a traction device into the water and a loading device for loading the transport box with the watercraft.
  • the loading device is designed to accommodate the watercraft in such a way that a holding device with which the watercraft can be fixed in the frame of the transport box is arranged in an exposed manner.
  • the loading device has a tilting device which is designed to tilt the watercraft into the transport box in such a way that the holding device of the watercraft enters a fixing area of a fixing element and is fixed in the frame by the fixing element (manually initiated or automatically).
  • the quick release fastener can be used as a fixation element.
  • the fixation area is the area in which the fixation element can fix the holding device.
  • the holding device When using a locking fixation element, the holding device has entered the fixation area at the time of locking.
  • the loading device is advantageously arranged in or on the base station so that the loading device can load the transport box with the watercraft. Furthermore, the loading device can ensure elastic mounting of the stowed watercraft, so that possible shock or vibration loads are adequately dampened by the base station.
  • a method for lowering a watercraft into the water by means of a transport box is shown with the following steps: top-side introduction of the watercraft into the transport box; Receiving the watercraft in the transport box; Attaching a traction means to the transport box; Lowering the transport box into the water; Lowering the watercraft from the transport box into the water.
  • the order of the steps is variable within the scope of the technical feasibility.
  • Picking up the watercraft can include fixing the watercraft in the transport box.
  • FIG. 1 a schematic representation of a transport box for setting down a watercraft by means of a traction device, FIG. 1a being a side view and FIG.
  • 1b show a top view of the transport box
  • 2 a schematic sectional illustration of exemplary embodiments of the transport box
  • FIG. 3 shows a schematic side view of the transport box according to FIG. 2, FIGS. 3a, 3b, 3c, 3d showing a sequence of different states of the transport device when the watercraft is set down;
  • FIGS. 4a, 4b and 4c shows different states when the transport box is loaded with the watercraft;
  • FIG. 6 a schematic block diagram with a computing unit of the transport box to illustrate signal flows in exemplary embodiments.
  • FIG. 1a shows a schematic side view of a transport box 20 for setting down a watercraft 22 by means of a traction device in the water.
  • Fig. 1b shows the transport box 20 in a plan view.
  • the watercraft 22 is not part of the transport box and is therefore shown in dashed lines.
  • the transport box 20 comprises a flap 24 and a frame 26.
  • the flap 24 is used to attach the traction mechanism to lower the transport box 20.
  • the flap 24 for attaching the traction mechanism comprises an eyelet 24 'into which a flake of the traction mechanism can engage.
  • the frame 26 is designed to accommodate the watercraft 22 in the transport box 20.
  • the frame 26 has a first support element 28a and a second support element 28b, to which the watercraft 22 is fixed.
  • one support element to which the watercraft is fixed is sufficient, but the weight distribution or balancing of the watercraft is easier on two separate support elements 28a, 28b, especially if the support element is not a (large-area) shell.
  • the frame should be designed in such a way that it stands securely on the cabin floor even when the helicopter is rolling or pitching or when there is a rough sea on the ship or any other movement of the base station.
  • Bracket 24 and frame 26 are (mechanically) connected to one another by means of a connecting element 30.
  • the connecting element 30 is designed in two parts, for example, and comprises a first and a second sub-element 30a, 30b, designed here as a hinge. Both hinges 30a, 30b have the same axis of rotation 30 'and therefore functionally form a hinge.
  • the hinges 30a, 30b can be designed as bolts, which are respectively passed through the frame 26 and the holder 24.
  • hinges as connecting elements is an option that the transport box 20 receives the watercraft 22 on the top and sets it down in the water on the underside.
  • the principle of setting down the watercraft 22 is described with reference to FIG. 3.
  • FIG. 2 shows a schematic sectional drawing of the transport box 20 in exemplary embodiments.
  • the transport box 20 has a computing unit 32.
  • the computing unit 32 is explained in more detail with reference to FIG. 6.
  • the transport box 20 can have a buoyancy element 34.
  • the computing unit 32 can be embedded in the buoyancy element 34. This has the practical advantage that the computing unit 32 does not come into contact with the water.
  • the buoyancy element 34 is a configuration in which the frame 26 can move (automatically) with respect to the holder 24.
  • a motor can also be used, but the buoyancy element has the advantage that the rotation takes place automatically when the transport box enters the water and no additional energy is required.
  • the buoyancy element 34 has a density which is lower than the density of the water.
  • the buoyancy element is selected such that the average density of the elements firmly connected to the frame, including the buoyancy element, is less than the density of water.
  • the transport box 20 has a direction finding system 36.
  • the direction finding system 36 includes a sensor head 36 '.
  • a plurality of water-borne sound transducers are arranged in the sensor head in order to be able to locate the watercraft 22.
  • the direction finding system 36 is arranged in the transport box 20 such that the sensor head 36 'of the direction finding system is arranged between the frame 26 and the bracket 24 while the transport box is being lowered into the water and the sensor head 36' of the direction finding system is arranged in the water below the frame 26 and the bracket 24 is arranged. This is implemented in such a way that the sensor head 36 'projects beyond the hinge 30 and is thus arranged below the hinge 30 and thus also below the frame after the frame has rotated in the water.
  • the frame 26 thus influences the location of the watercraft 22 as little as possible.
  • the direction finding system 36 can also be fastened directly upside down to the holder 24 instead of to the frame 26. Then, however, the sensor head 36 'of the direction finding system cannot reach so deep into the water due to the design.
  • the frame would have to be designed in such a way that it does not damage the direction finding system when the frame rotates relative to the bracket.
  • the frame 26, in particular the support elements 28a, 28b has a quick-release fastener.
  • the quick release fastener is not explicitly shown, but engages in the corresponding holding devices 38a, 38b of the watercraft 22 in order to fix the same.
  • the quick release can be operated remotely to release the watercraft 20. If a fixing element is provided in each of the support elements 28a, 28b, the fixing elements can differ from one another, for example have different quick-release fasteners.
  • the watercraft 22 is shown with two further optional modifications compared to FIG. 1.
  • the watercraft 22 has an (active) sonar 40 on the underside in the front area.
  • the sonar 40 By means of the sonar 40, the watercraft can independently locate the target when it is in the vicinity of the target, for example when it has reached the target position.
  • the watercraft 22 also optionally has a signal generation system 42 which can emit an acoustic signal (also referred to as a ping) that can be detected by the direction finding system 36 in order to locate the watercraft 22.
  • the watercraft 22 is optionally connected to a dispenser 46 by means of a signal line 44, in particular an optical waveguide, in which a supply of the signal line 44 can be present, for example rolled up. If the watercraft 22 moves away from the transport box 20, the dispenser 46 releases further signal line 44, so that the watercraft 22 is ideally connected to the transport box 20 by means of the signal line 44 until the mission is completed.
  • the supply of signal line can optionally also be arranged in the watercraft 22, advantageously in the stern area, or a proportionate supply of signal lines is located both in the watercraft and in the dispenser 46.
  • the signal line 44 is permanently connected to the watercraft 20, so that the dispenser 46 is only connected to the transport box when the transport box 20 is loaded with the watercraft 22; the signal line 44 and dispenser 46 are therefore shown in dashed lines, as is the watercraft 22.
  • the transport box 20 has a receptacle 48 for the dispenser 46.
  • the dispenser 46 is advantageously arranged rotatably on the receptacle 48. The dispenser initially takes up little space and can be arranged below the watercraft 22. As soon as the watercraft is in the water and away from the transport box 20, the dispenser 46 can, however, unfold. If the dispenser 46 is made long enough and properly positioned, can an outlet 46 'of the dispenser protrude deeper into the water than all other elements of the transport box. This is illustrated in Fig. 3d.
  • Fig. 3 shows in Fig. 3a, Fig. 3b, Fig. 3c and Fig. 3d four different states of the transport box 20 and the (sub) watercraft 22.
  • the transport box 20 hangs in the air on the traction means of the Base station.
  • the traction means remains continuously connected to the transport box 20, so that the transport box can be lifted back into or onto the base station after the mission is complete, in order to be equipped there with a new watercraft.
  • the watercraft 22 is primarily designed to carry out only one mission, so that there is no need for the watercraft 22 to dock on the transport box again. For example, if a sea mine is destroyed, the watercraft 22 itself is also destroyed.
  • FIG. 3b shows the transport box 20 immersed in the water.
  • the frame 26 is rotated about the axis of rotation of the hinges 30 by approximately 180 °, for example due to the effect of the buoyancy element 34.
  • the orientation of the watercraft 22 has also been reversed by the rotation of the frame 26. If the watercraft 22 was still upside down in the air, it is now correctly positioned in the water. As a result of the rotation of the frame 26, the sensor head 36 'is now also deeper in the water than the frame itself.
  • 3c shows the lowering of the watercraft 22 into the water.
  • the fixing element in particular the quick release fastener, was released (remotely controlled) and the watercraft 22 sinks down, either due to negative trim or due to active propulsion.
  • the dispenser 46 begins to rotate. The rotation can be initiated by an initial pull of the watercraft on the signal line. The initial pull can release a slight tension between the dispenser and the frame, which enables rotation.
  • FIG. 3d shows the beginning of the mission of the watercraft 22.
  • the watercraft 22 is propelled and steered to its target position.
  • the outlet 46 ′ of the dispenser 46 now protrudes deeper into the water than all the other elements of the transport box 20.
  • 4 shows a system 50 with the transport box 20 and a loading device 52 for loading the transport box 20 with a watercraft 22.
  • FIGS. 4a, 4b and 4c show the loading of the transport box 20 with the watercraft 22 in three steps.
  • the transport box 20 and the loading device 52 are arranged in a predetermined position with respect to one another.
  • the folding 24 of the transport box is folded down to reveal the opening of the transport box, i.e. the frame.
  • the watercraft 22 is received, in particular fixed, in the loading device 52 in such a way that the folding device with which the watercraft can be fixed in the frame of the transport box is arranged in an exposed manner. That is, the watercraft is fixed in the loading device 52 with different means 54 than in the transport box 20 Fixing element occurs and is automatically fixed by the fixing element in the frame.
  • the tilting device is advantageously designed so that the tilting process can be interrupted at any time and the watercraft is held securely by the tilting device in every intermediate position. This can be done, for example, by means of a hydraulic cylinder or a spindle (not shown).
  • the end position of the tilting process is shown in Fig. 4b.
  • the tilting device 56 is tilted by 90 °, for example, and due to the predetermined position in relation to one another, the holding device 38 of the watercraft 20 and the corresponding fixing element, in particular the quick-release fastener, of the transport box engage precisely in one another.
  • the watercraft is fixed both in the transport box and on the loading device 52.
  • the means 54 for fixing the watercraft on the loading device 52 can now be released and the tilting device 56 swivels back into its starting position. This state is shown in Fig. 4c.
  • the holder 24 can be connected to the traction mechanism and lowered into the water.
  • the loading device 52 also contains the dispenser and the associated signal line.
  • the dispenser is released from the loading device at a suitable point in time before, during or after the tipping process (e.g. manually) and attached to the transport box by means of the receptacle without having to disconnect the pre-assembled signal line.
  • the loading device 52 is selected only as an example.
  • a shelf system can in particular also be built into the base station.
  • the watercraft can be fixed on a corresponding tilting device.
  • the tilting device is designed here individually for the different ones in order to be able to overcome different heights and / or distances from which the watercraft is tilted into the transport box. Tilting levers of different lengths and curved angles of rotation can be used to optimally use the space in the helicopter or another base station.
  • the tilting device can also rotate the watercraft at an angle other than the 90 ° shown in order to bring the watercraft into the fixing area of the transport box.
  • FIG. 5 shows a further system 58 comprising the transport box 20, shown here in the state according to FIG is already below the water surface 64.
  • the transport box has a float 66 which is movably arranged on the traction means.
  • the float 66 has an antenna (not shown) which is designed to receive a signal from an operating unit from the base station and to forward it to a processing unit of the transport box or to send a signal in the opposite direction from the processing unit to the base station. Outside the water, the float 66 lies on the holder 24.
  • the eyelet 24 ' is advantageously shaped in such a way that a stable storage position results for the float 66.
  • the float is typically connected to the processing unit of the transport box by a cable (not shown) .
  • 6 shows a schematic block diagram of possible signal flows for controlling the transport box in exemplary embodiments.
  • An operating unit 72 is arranged in the base station 60.
  • the transport box can be controlled by means of the operating unit 72.
  • Signals from the operating unit to the transport box (and vice versa) can be transmitted via a signal connection 74 to a data processing unit 82 of the computing unit 32 of the transport box 20.
  • Signals include (useful) data as well as control signals. In principle, this is possible using a wired signal connection. What is shown, however, is a wireless signal connection 74, for example by means of WLAN or any other suitable radio standard.
  • a float 66 with an antenna is arranged between the base station 60 and the transport box 20, advantageously movable around the traction means, in order to receive the signal from the control unit (or to send it to the control unit).
  • a first signal connection 80 exists between antenna 66 and data processing unit 82.
  • the first signal connection 80 is typically wired and accordingly extends from the float 66 to the transport box.
  • Data processing unit 82 processes the resulting data from transport box 20.
  • the sensor head 36 ′ of the direction finding system can thus also have a (second) signal connection 84 to the data processing unit 82.
  • the data processing unit can also transmit the trigger, i.e. the predetermined point in time at which the watercraft 82 sends out its acoustic signal (ping), to the sensor head so that it can listens to the acoustic signal.
  • the sensor head 36 'can thus be switched to the active mode or listening mode. Otherwise the sensor head can be switched to passive mode so that energy consumption is minimized.
  • the data processing unit 82 can have a (third) signal connection to an actuator control 88.
  • the actuator control 88 can, by means of a (fourth) signal connection 90, the fixing element 92, in particular the Quick release, control, ie preferably open, in order to lower the watercraft 22 into the water.
  • the signal for opening the fixing element can be transmitted by the operating unit 72.
  • the fixing element 92 can report back successful opening via the fourth signal connection 90.
  • the computing unit 32 can have an interface 94 to the watercraft 22.
  • the interface 94 can be connected to the data processing unit 82 by means of a fifth signal connection 96.
  • the interface is also connected to the dispenser 46 for the signal line 44 by means of a sixth signal connection 98.
  • the signal line 44 is in turn connected to the watercraft 22.
  • the data processing unit 82 can send signals to and receive signals from the watercraft 22, for example in order to control the same, request the transmission of the acoustic signal (ping), receive any video and / or photo data from the watercraft, etc.
  • the computing unit also has a power distribution 100 in order to supply the individual electrical components of the transport box 20 such as the computing unit 32, the sensor head 36 ', the fixing element 92, etc. with energy.
  • the energy can come from a replaceable and / or rechargeable battery 102, which is connected to the power distribution 100 by means of an electrical contact 104.
  • Loading device 54 Means for fixing the watercraft in the transport box

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ship Loading And Unloading (AREA)
  • Aviation & Aerospace Engineering (AREA)

Abstract

Une boîte de transport (20) pour la mise en place d'une embarcation (22) dans l'eau au moyen d'un mécanisme de traction (62), avec un support (24) pour fixer le mécanisme de traction afin d'abaisser la boîte de transport, et un cadre qui est conçu pour recevoir l'embarcation dans la boîte de transport, la boîte de transport étant conçue pour recevoir le côté supérieur de l'embarcation et la mettre en place sur le côté inférieur dans l'eau.
EP21736544.4A 2020-07-02 2021-06-21 Boîte de transport pour la mise à l'eau d'une embarcation Active EP4100312B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020208327.4A DE102020208327A1 (de) 2020-07-02 2020-07-02 Transportbox zum Absetzen eines Wasserfahrzeugs
PCT/EP2021/066810 WO2022002664A1 (fr) 2020-07-02 2021-06-21 Boîte de transport pour la mise en place d'une embarcation

Publications (2)

Publication Number Publication Date
EP4100312A1 true EP4100312A1 (fr) 2022-12-14
EP4100312B1 EP4100312B1 (fr) 2024-06-19

Family

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Application Number Title Priority Date Filing Date
EP21736544.4A Active EP4100312B1 (fr) 2020-07-02 2021-06-21 Boîte de transport pour la mise à l'eau d'une embarcation

Country Status (5)

Country Link
US (1) US12486004B2 (fr)
EP (1) EP4100312B1 (fr)
KR (1) KR102858319B1 (fr)
DE (1) DE102020208327A1 (fr)
WO (1) WO2022002664A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023126293A1 (de) * 2023-09-27 2025-03-27 Atlas Elektronik Gmbh Vorrichtung zum Aussetzen und/oder Bergen eines unbemannten Unterwasserfahrzeugs aus dem Wasser
DE102023126292A1 (de) * 2023-09-27 2025-03-27 Atlas Elektronik Gmbh Vorrichtung zur Aufnahme eines unbemannten Unterwasserfahrzeugs
WO2025110934A1 (fr) * 2023-11-21 2025-05-30 Rovula (Thailand) Co., Ltd. Systèmes, dispositifs et procédés de gestion d'un véhicule sous-marin

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51102900A (ja) 1975-03-06 1976-09-10 Mitsubishi Heavy Ind Ltd Sensuisenyoshusochi
US4312287A (en) 1977-09-30 1982-01-26 The University Of Strathclyde Apparatus for handling submersibles at sea
IT1311837B1 (it) * 1999-05-19 2002-03-19 Studio 3 Ingegneria Srl Dispositivo di attracco per veicoli autonomi sottomarini semoventi
FR2823485B1 (fr) 2001-04-13 2003-08-01 Eca Dispositif de mise a l'eau et de recuperation d'un vehicule sous-marin et procede de mise en oeuvre
US7293521B1 (en) * 2005-05-10 2007-11-13 Sealift, Inc. Hydraulic transom lift
DE102005058475B3 (de) 2005-12-07 2007-01-04 Atlas Elektronik Gmbh Gerät zum Ausbringen und Tracken eines unbemannten Unterwasserfahrzeugs
US8061932B1 (en) * 2009-06-19 2011-11-22 Latham Robert P Hydraulic boat lift
US8430049B1 (en) 2009-07-13 2013-04-30 Vehicle Control Technologies, Inc. Launch and recovery systems and methods
US8931427B2 (en) * 2010-01-13 2015-01-13 Peter A. Mueller Safety tender lift
FR2969574B1 (fr) 2010-12-23 2013-11-01 Eca Dispositif de mise a l'eau et de recuperation d'un engin marin, et procede de mise a l'eau et de recuperation associe.
US9120543B2 (en) * 2014-01-03 2015-09-01 Eric Toce Boat hoist apparatus and method of use
GB201518297D0 (en) 2015-10-16 2015-12-02 Autonomous Robotics Ltd Deployment and retrival methods for AUVs
KR102034173B1 (ko) 2019-02-27 2019-10-18 한화시스템 주식회사 수중 운동체 진수장치
KR102034172B1 (ko) 2019-02-27 2019-10-18 한화시스템 주식회사 수중 운동체 진수장치
JP7738490B2 (ja) * 2022-01-13 2025-09-12 三菱電機株式会社 無線通信システムおよび端末認証方法

Also Published As

Publication number Publication date
US20230234677A1 (en) 2023-07-27
DE102020208327A1 (de) 2022-01-05
WO2022002664A1 (fr) 2022-01-06
EP4100312B1 (fr) 2024-06-19
US12486004B2 (en) 2025-12-02
KR20230038495A (ko) 2023-03-20
KR102858319B1 (ko) 2025-09-10

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