UNDERWATER VEHICLE, WHICH SWIVELS A DRIVE UPON IMMERSION INTO A BODY OF WATER

Abstract

An underwater vehicle may include a first propulsion element disposed on a first swivel holder, a first drive motor that is able to drive the first propulsion element, and a swivel mechanism that is able to move the first swivel holder relative to an outer hull of the underwater vehicle from a swiveled-in position into a swiveled-out position. The underwater vehicle can detect a given event automatically under water. In response to the detection of the event, the underwater vehicle may activate the swivel mechanism. The activated swivel mechanism may then move the first swivel holder into the swiveled-out position.

Claims

1.-24. (canceled)

25. An underwater vehicle comprising: an outer hull that extends along a longitudinal axis; a first swivel holder that is movable relative to the outer hull between a swiveled-in position and a swiveled-out position, wherein a distance between the first propulsion element and the longitudinal axis is smaller with the first swivel holder in the swiveled-in position than in the swiveled-out position; a first propulsion element disposed on the first swivel holder; a first drive motor that is configured to drive the first propulsion element; and a swivel mechanism configured to move the first swivel holder together with the first propulsion element from the swiveled-in position into the swiveled-out position, wherein the underwater vehicle is configured, automatically underwater, to detect an event and to activate the swivel mechanism in response to detection of the event, wherein activation of the swivel mechanism causes movement of the first swivel holder from the swiveled-in position into the swiveled-out position.

26. The underwater vehicle of claim 25 wherein the swivel mechanism comprises: expansion means that is activatable; and a transmission device that is mechanical and is movable relative to the outer hull, wherein activation of the expansion means causes movement of the transmission device, wherein movement of the transmission device causes swiveling of the first swivel holder into the swiveled-out position.

27. The underwater vehicle of claim 26 wherein the transmission device is linearly movable relative to the outer hull, wherein activation of the expansion means causes a linear movement of the transmission device.

28. The underwater vehicle of claim 26 wherein the transmission device comprises a guide surface disposed at an angle relative to the longitudinal axis, wherein the first swivel holder comprises a component that is in mechanical contact with the guide surface, wherein movement of the transmission device causes movement of the first swivel holder relative to the outer hull and movement of the component relative to the guide surface, wherein a relative movement of the component causes or allows swiveling of the first swivel holder into the swiveled-out position.

29. The underwater vehicle of claim 28 wherein the transmission device comprises a piston that is movable relative to the outer hull, wherein the guide surface comprises a cone-shaped indentation of the movable piston.

30. The underwater vehicle of claim 26 comprising a hollow body that encloses a cavity, the hollow body being disposed inside the outer hull, wherein at least part of the transmission device is disposed in the cavity of the hollow body.

31. The underwater vehicle of claim 30 wherein the transmission device comprises a piston that is disposed in the cavity and is linearly movable relative to the hollow body.

32. The underwater vehicle of claim 26 wherein a hollow body that encloses a cavity is disposed inside the outer hull, wherein the underwater vehicle is configured after activation of the expansion means to cause a fluid to flow into the cavity, wherein a flow of the fluid into the cavity causes movement of the transmission device.

33. The underwater vehicle of claim 32 wherein the fluid comprises water that surrounds the underwater vehicle when immersed.

34. The underwater vehicle of claim 32 wherein the expansion means comprises a container with an outlet, wherein the outlet comprises a closure member and opens into the cavity, wherein the fluid is contained in the container, wherein the underwater vehicle is configured after activation of the expansion means to fulfill the closure member for the outlet, wherein the expansion means is configured such that when the closure member is open the fluid in the container flows into the cavity and causes movement of the transmission device.

35. The underwater vehicle of claim 34 wherein the expansion means is configured such that the fluid cures in the cavity.

36. The underwater vehicle of claim 25 comprising a locking unit, wherein in a locking position the locking unit locks the swivel mechanism and prevents the first swivel holder from swiveling, wherein in a release position the locking unit allows the first swivel holder to swivel.

37. The underwater vehicle of claim 25 wherein the first drive motor is disposed on the first swivel holder.

38. The underwater vehicle of claim 25 wherein the first propulsion element is disposed at a stern of the underwater vehicle, wherein at least when the first swivel holder is in the swiveled-out position the first propulsion element is disposed at least partially behind a contour of the outer hull when viewed in a direction parallel to the longitudinal axis.

39. The underwater vehicle of claim 25 comprising: a second swivel holder; and a second propulsion element disposed on the second swivel holder, wherein the second swivel holder is movable relative to the outer hull between a swiveled-in position and a swiveled-out position, wherein the swivel mechanism is configured to move the first swivel holder and the second swivel holder, together with the first and second propulsion elements on the first and second swivel holders, from the swiveled-in positions to the swiveled-out positions in a synchronized manner.

40. The underwater vehicle of claim 25 wherein the first swivel holder is configured to be swiveled about a first swivel axis, wherein the first swivel holder comprises two arms that are mechanically connected together and extend away from the first swivel axis in different directions, wherein a first of the two arms is in operative connection with the swivel mechanism, wherein the first propulsion element is disposed on a second of the two arms.

41. The underwater vehicle of claim 25 comprising a sensor that is configured to detect an environmental condition automatically underwater, wherein the underwater vehicle is configured to activate the swivel mechanism automatically in response to detection of the environmental condition.

42. The underwater vehicle of claim 41 wherein the sensor is configured to automatically detect at least one of the following events: immersion of the underwater vehicle in a body of water; the underwater vehicle reaching a given water depth; a distance between the underwater vehicle and a bottom of the body of water has fallen below a threshold; or an object with given properties has been detected outside the underwater vehicle, wherein the swivel mechanism is activated automatically upon detection of one or more of the events.

43. The underwater vehicle of claim 25 comprising an activatable time switch that is configured to detect an event where a given time period after activation of the time switch has passed, wherein the underwater vehicle is configured to activate the swivel mechanism in response to the event.

44. The underwater vehicle of claim 25 configured such that the first drive motor is switched off when the first swivel holder is in the swiveled-in position, wherein the underwater vehicle is configured to switch on the first drive motor in response to an event that the first swivel holder has reached the swiveled-out position or an intermediate position.

45. A method for operating an underwater vehicle, wherein the underwater vehicle comprises an outer hull that extends along a longitudinal axis; a first swivel holder that is movable relative to the outer hull between a swiveled-in position and a swiveled-out position, wherein a distance between the first propulsion element and the longitudinal axis is smaller with the first swivel holder in the swiveled-in position than in the swiveled-out position; a first propulsion element disposed on the first swivel holder; a first drive motor that is configured to drive the first propulsion element; and a swivel mechanism, the method comprising: transporting the underwater vehicle out of water to an operating site with the first swivel holder in the swiveled-in position; placing the underwater vehicle into the water with the first swivel holder in the swiveled-in position; detecting an event automatically underwater with the underwater vehicle and in response to detection of the event activating the swivel mechanism, which causes the first swivel holder to be swiveled from the swiveled-in position into the swiveled-out position; and moving the underwater vehicle through the water with the first swivel holder in the swiveled-out position.

46. The method of claim 45 wherein the swivel mechanism comprises expansion means that is activatable and a transmission device that is mechanical and is movable relative to the outer hull, wherein activating the swivel mechanism comprises: activating the expansion means; the expansion means moving the transmission device; and the transmission device moving the first swivel holder into the swiveled-out position.

47. The method of claim 46 wherein a hollow body that encloses a cavity is disposed inside the outer hull, wherein activating the expansion means comprises initiating an event that a fluid flows into the cavity, wherein inflow of the fluid into the cavity causes the transmission device to be moved.

48. The method of claim 45 wherein after the underwater vehicle is placed in the water a sensor onboard the underwater vehicle automatically detects an environmental condition, wherein detection of the environmental condition initiates activation of the swivel mechanism.

Description

[0068] The underwater vehicle according to the invention is explained in greater detail hereinbelow with reference to two exemplary embodiments shown in the drawings, in which:

[0069] FIG. 1 shows a first exemplary embodiment of the invention in which assembly foam is used as the expansion means, with the two swivel holders in the swiveled-in position;

[0070] FIG. 2 shows the first exemplary embodiment of FIG. 1 with the two swivel holders in the swiveled-out position;

[0071] FIG. 3 shows a second exemplary embodiment of the invention in which a linear motor is used as the expansion means, with the two swivel holders in the swiveled-in position;

[0072] FIG. 4 shows the second exemplary embodiment of FIG. 3 with the two swivel holders in the swiveled-out position.

[0073] The invention is explained hereinbelow with reference to two exemplary embodiments. FIG. 1 and FIG. 2 show the first exemplary embodiment, FIG. 3 and FIG. 4 show the second exemplary embodiment.

[0074] In both exemplary embodiments, the invention is used in an autonomous unmanned underwater vehicle (autonomous underwater vehicle, AUV) 101. The underwater vehicle 101 extends along a longitudinal axis 133 and has a cylindrical outer hull 102 and two drive devices 103 and 104 which are mounted at the stern. The outer hull 102 is rotationally symmetrical with respect to the longitudinal axis 133. The first drive device 103 comprises a first swivel holder 117, a first electric drive motor 115 and a first propeller 111. The second drive device 104 comprises a second swivel holder 119, a second electric drive motor 116 and a second propeller 113. It is also possible to use more than two drive devices 103 and 104, for example three drive devices, wherein the three swivel holders are arranged in a circle with an angle of in each case 120 degrees between two adjacent swivel holders.

[0075] In one embodiment, a voltage source (not shown) is arranged inside the outer hull 102, which voltage source is able to supply both electric drive motors 115 and 116 with electrical energy. A cable is guided from the voltage source to each of the drive motors 115 and 116. In another embodiment, an electrical voltage source for the drive motor 115 or 116 is additionally arranged on each swivel holder 117, 119.

[0076] Each drive device 103, 104 can be swiveled from a swiveled-in position into a swiveled-out position. The cable from the voltage source to the drive motor 115 or 116 follows this movement of the drive device 103, 104. If the voltage source is mounted on the swivel holder 117, 119, it is swiveled therewith.

[0077] FIG. 1 and FIG. 3 show the two drive devices 103 and 104 in the swiveled-in position, FIG. 2 and FIG. 4 show them in the swiveled-out position. When a drive device 103, 104 is in the swiveled-in position, there is a smaller distance d1, d2 between the propeller 111 or 113 and the longitudinal axis 133. In the swiveled-out position, there is a larger distance D1, D2. The first swivel holder 117 can be swiveled relative to the outer hull 102 about a first swivel axis 121, the second swivel holder 119 about a second swivel axis 122. The swivel axis 121, 122 is perpendicular to the longitudinal axis 133 and divides the associated swivel holder 117, 119 into two arms 117.1 and 117.2 and 119.1 and 119.2, which are fixedly connected together. The rear arm 117.2, 119.2 faces the stern of the underwater vehicle 101 and carries the drive motor 115, 116 and the propeller 111, 113. The front arm 117.1, 119.1 faces the bow of the underwater vehicle 101 and carries a series of guide rollers 135, 136.

[0078] In the swiveled-in position, each propeller 111, 113 and each drive motor 115, 116 is at a smaller distance d1, d2 from the longitudinal axis 133 compared to the swiveled-out position. At least in the swiveled-in position, each drive device 103, 104 is located wholly within an imaginary tube which is defined by the outer hull 102. It is possible that each drive device 103, 104 is also located wholly within that imaginary tube in the swiveled-out position. The underwater vehicle 101 thus has a comparatively low flow resistance when travelling through the water. In an alternative embodiment, each drive device 103, 104 at least partially protrudes laterally beyond the imaginary tube in the swiveled-out position. The propellers 111, 113 thereby achieve better thrust in many cases.

[0079] Inside the outer hull 102 there are arranged a tubular cylinder 105 which is hollow on the inside, and a piston 109. The piston 109 can be moved rearwards, that is to say towards the swivel axes 121 and 122, in the cylinder 105 along the longitudinal axis 133. The rear piston face of the piston 109 has a cone-shaped recess. By virtue of the cone-shaped recess, the piston 109 provides an upper sloping guide surface 123 and a lower sloping guide surface 124. The guide rollers 135 lie against the upper guide surface 123, the lower guide rollers 136 lie against the lower guide surface 124. A cavity 107 in the cylinder 105 adjoins the piston 109 at the front piston face of the piston 109.

[0080] A front closing wall closes the cavity 107.

[0081] When the drive device 103, 104 is in the swiveled-in position, the guide rollers 135 and 136 are at a larger distance from the longitudinal axis 133 and are close to the wall of the cylinder 105, see FIG. 1 and FIG. 3. If the piston 109 in the cylinder 105 is moved rearwards towards the swivel axes 121 and 122, the guide rollers 135, 136 roll or slide over the respective guide surface 123, 124 towards the longitudinal axis 133 and thus towards the tip of the cone-shaped recess. This movement forces the swivel holder 117, 119 to be rotated about the respective swivel axis 121, 122. The front arm 117.1, 119.1 is rotated towards the longitudinal axis 133, the rear arm 117.2, 119.2 is moved away from the longitudinal axis 133. The drive motor 115, 116 and the propeller 111, 113 are thus also moved away from the longitudinal axis 133. The two drive devices 103 and 104 are swiveled simultaneously and in a synchronized manner when the piston 109 is displaced rearwards.

[0082] The two exemplary embodiments differ by the mechanism which moves the piston 109 in the cylinder 105 rearwards, that is to say towards the swivel axes 121 and 122.

[0083] In the first exemplary embodiment, which is shown in FIG. 1 and FIG. 2, a cartridge 125 is mounted in front of the cylinder 105, which cartridge contains an assembly foam under overpressure. An outlet 126 of this cartridge 125 leads into the cavity 107. A closure member (not shown) for the outlet 126 can be transferred from a closed position, in which the closure member closes the outlet 126, into an open position, in which the closure member frees the outlet 126.

[0084] The drive devices 103 and 104 are initially in the swiveled-in position, and the closure member closes the outlet 126. As soon as the outlet 126 is freed, assembly foam 128 flows out of the cartridge 125 into the cavity 107 and expands. The cavity 107 is closed at the front by a closing wall. The expansion in volume of the assembly foam 128 in the cavity 107 therefore causes the piston 109 to be displaced rearwards. This forced displacement of the piston 109 rearwards causes the drive device 103 and 104 to be swiveled from the swiveled-in position into the swiveled-out position.

[0085] The assembly foam 128 cures in the cavity 107 and, after curing, holds the piston 109 in a rear end position. The two drive devices 103 and 104 are thereby held in the swiveled-out position. Because the assembly foam 128 in the cavity 107 has cured, it is generally not possible to bring the drive device 103 and 104 into the swiveled-in position again. In one embodiment, the guide rollers 135 and 136 or the piston 109 are additionally locked when the drive device 103 and 10 have reached the swiveled-out position.

[0086] In the second exemplary embodiment, a linear motor 131 is able to displace the piston 109 rearwards in the cylinder 105. In one embodiment, the linear motor 131 is additionally configured to displace the piston 109 forwards again in the cylinder 105. When the underwater vehicle 101 is being used under water, the water pressure of the surrounding water assists with the displacement of the piston 109 forwards, because the water pressure (dynamic pressure) strives to move the drive devices 103 and 104 into the swiveled-in position when the underwater vehicle is moving. A suitable unit (not shown), for example a plurality of spring elements or expansion units, ensures that the guide rollers 135 and 136 remain in contact with the guide surfaces 123 and 124. The drive devices 103 and 104 are thereby swiveled in a synchronized manner into the swiveled-in position again.

[0087] A locking wedge 127 is mounted in a swiveling manner in the cylinder 105. The locking wedge 127 can be swiveled to and fro between a locking position (FIG. 4) and a release position (FIG. 3). An actuator 129 is able to swivel the locking wedge 127 relative to the cylinder 105. As soon as the piston 109 has reached the rear position, the actuator 129 moves the locking wedge 127 into the locking position. It is thereby ensured that the drive devices 103 and 104 remain in the swiveled-out position. In order to allow the piston 109 to be displaced forwards again, the actuator 129 moves the locking wedge 127 into the release position again.

[0088] A preferred embodiment of how the underwater vehicle according to the solution is used is described hereinbelow. This embodiment can be used for both the embodiments of the swivel mechanism which have just been described.

[0089] The underwater vehicle 101 is transported to an operating site. During transportation, the two drive devices 103 and 104 are in the swiveled-in position. This reduces the risk of a component of a drive device 103 or 104 being damaged during transportation or of a living creature being injured or an object being damaged. Transport is carried out, for example, by means of an air vehicle or a surface vehicle (not shown). The drive motors 115, 116 of the drive devices 103 and 104 are switched off.

[0090] At the operating site, the underwater vehicle 101 is placed into the water, for example launched into the water from the air vehicle or the surface vehicle. The underwater vehicle 101 descends in the water. The drive devices 103 and 104 initially remain in the swiveled-in position, and the drive motors 115 and 116 remain switched off, while the underwater vehicle 101 is launched, strikes the surface of the water and descends in the water. By virtue of the swiveled-in position, the risk of a drive device 103 or 104 colliding with a living creature or an object outside the underwater vehicle 101 or of a component of a drive device 103 or 104 being damaged is reduced.

[0091] As soon as a defined event, which is described hereinbelow, has occurred, the following two operations are initiated in succession: [0092] The piston 109 is displaced rearwards in the cylinder 105 and swivels the two drive devices 103 and 104 in a synchronized manner from the swiveled-in position into the swiveled-out position. [0093] The two drive motors 115 and 116 are switched on, preferably at the same time, and rotate the two propellers 111 and 113.

[0094] In one embodiment, the operation of displacing the piston 109 rearwards is initiated first. The event that the two drive devices 103, 104 have reached a given position, for example the swiveled-out position or an intermediate position between the swiveled-in position and the swiveled-out position, is detected automatically. For example, a contact switch is activated. The detection of this event initiates the operation of switching on the two drive motors 115 and 116. This embodiment rules out the undesirable event of the drive motors 115 and 116 being switched on too early and the propellers 111 and 113, for example, touching.

[0095] In one embodiment, a time switch is activated as soon as the underwater vehicle 101 is launched, that is to say even before it reaches the water. The time switch automatically detects the event that a given time period after activation of the time switch has passed. As soon as this given time period has passed, the time switchor a control device (not shown) of the underwater vehicle 101automatically activates the expansion means 125, 131, which displaces the piston 109 rearwards. This embodiment leads to a particularly simple implementation.

[0096] In another embodiment, a sensor 140 is mounted on board the underwater vehicle 101, which sensor measures a value which is correlated with the descent of the underwater vehicle 101 in the water and/or with an environmental condition. For example, the sensor 140 measures the event that the underwater vehicle 101 has reached the water, a measurement of the current water depth in which the underwater vehicle 101 is located, or a measurement of the distance of the descending underwater vehicle 101 from the bottom of a body of water. Or the sensor 140 detects an object in the vicinity of the descending underwater vehicle 101. As soon as the sensor 140 has detected that a given event has occurred, the sensor 140 or the control device of the underwater vehicle 101 activates the expansion means, which displaces the piston 109 rearwards. It is possible that a plurality of sensors are arranged on board the underwater vehicle 101, wherein each sensor is able to detect a given event. As soon as at least one given event has occurred, the expansion means is activated.

REFERENCE NUMERALS

[0097] 101 autonomous unmanned underwater vehicle [0098] 102 outer hull of the underwater vehicle 101 [0099] 103 first drive device, comprises the first swivel holder 117, the first drive motor 115 and the first propeller 111 [0100] 104 second drive device, comprises the second swivel holder 119, the second drive motor 116 and the second propeller 112 [0101] 105 cylinder, in which the piston 109 is displaceably mounted [0102] 107 cavity inside the cylinder 105, adjoins the piston 109 [0103] 109 piston, displaceably mounted in the cylinder 105 [0104] 111 first propeller, mounted on the first swivel holder 117, rotated by the first drive motor 115 [0105] 113 second propeller, mounted on the second swivel holder 119, rotated by the second drive motor 116 [0106] 115 first drive motor, rotates the first propeller 111 [0107] 116 second drive motor, rotates the second propeller 113 [0108] 117 first swivel holder, carries the first drive motor 115 and the first propeller 111, comprises the arms 117.1, 117.2 [0109] 117.1 front arm of the first swivel holder 117 [0110] 117.2 rear arm of the first swivel holder 117 [0111] 119 second swivel holder, carries the second drive motor 116 and the second propeller 113, comprises the arms 119.1, 119.2 [0112] 119.1 front arm of the second swivel holder 119 [0113] 119.2 rear arm of the second swivel holder 119 [0114] 121 swivel axis, about which the first swivel holder 117 can be rotated [0115] 122 swivel axis, about which the second swivel holder 119 can be rotated [0116] 123 upper guide surface of the piston 109, guides the guide rollers 135 on the first swivel holder 117 [0117] 124 lower guide surface of the piston 109, guides the guide rollers 136 on the second swivel holder 119 [0118] 125 assembly foam cartridge, contains the assembly foam 128 [0119] 126 outlet of the cartridge 125, leads into the cavity 107 [0120] 127 locking wedge mounted in a swiveling manner, able to lock the piston 109 [0121] 128 assembly foam in the cavity 107 [0122] 129 actuator, able to swivel the locking wedge 127 [0123] 131 linear motor, able to displace the piston 109 in the cylinder 105 [0124] 133 longitudinal axis of the unmanned underwater vehicle 101 [0125] 135 guide rollers at the front end of the first swivel holder 117, are guided by the guide surface 123 [0126] 136 guide rollers at the front end of the second swivel holder 119, are guided by the guide surface 124 [0127] 140 sensor for measuring an environmental condition [0128] d1 distance between the propeller 111 and the longitudinal axis 133 when the drive device 103 is in the swiveled-in position [0129] d2 distance between the propeller 113 and the longitudinal axis 133 when the drive device 104 is in the swiveled-in position [0130] D1 distance between the propeller 111 and the longitudinal axis 133 when the drive device 103 is in the swiveled-out position [0131] D2 distance between the propeller 113 and the longitudinal axis 133 when the drive device 104 is in the swiveled-out position