Abstract:
The invention relates to a device and a method for operating an unmanned underwater vehicle, wherein the underwater vehicle has determining means which determine a usability indicator. A use recommendation for the use of the underwater vehicle in a future mission can be derived or is derived from this usability indicator. The determination of the usability indicator takes place as a function of at least one operating parameter of the underwater vehicle. A decision aid relating to the suitability of the underwater vehicle for a respective purpose of use can be made available for an underwater vehicle, which can be used for different purposes by means of the invention. In addition, the invention relates to an underwater vehicle which has at least the determining means and/or storage means for storing a usability indicator which is determined by means of the device according to the invention.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    The present invention is the US national stage under 35 U.S.C. §371 of International Application No. PCT/EP2012/063347, which was filed on Jul. 9, 2012 and which claims the priority of application DE 10 2011 107 824.3 filed on Jul. 16, 2011 the content of which (text, drawings and claims) is incorporated here by reference in its entirety. 
     
    
     FIELD 
       [0002]    The invention relates to a device and a method for operating an unmanned underwater vehicle and an unmanned underwater vehicle having the device or parts of the device. 
       BACKGROUND 
       [0003]    Unmanned underwater vehicles are known in various embodiments for different intended uses. For example, unmanned underwater vehicles are used for inspecting devices below the water surface or for salvaging and/or detonating underwater mines. An unmanned underwater vehicle in this case can be configured as an underwater vehicle operated by cable (ROV=Remotely Operating Vehicle) or as an autonomous underwater vehicle (AUV=Autonomous Underwater Vehicle). The underwater vehicle is thus either self-controlled or is controlled via a cable, for example a fiber optic cable. 
         [0004]    Unmanned underwater vehicles are generally driven by means of electromotive drives which are supplied with electrical power from a battery accommodated on the underwater vehicle. In this case, underwater vehicles which are able to be repeatedly used generally comprise a rechargeable battery, in particular a nickel metal hydride battery (NiMh), whereas underwater vehicles which are used for mine clearance by self-destruction, generally have a non-rechargeable primary lithium battery (LiSO2). 
         [0005]    According to the prior art, a plurality of differently configured underwater vehicles can be stored on-board a marine vessel, the underwater vehicles being specifically configured for one respective intended use and only being used for the intended use. As a result, for example, underwater vehicles which are provided for mine clearance by self-destruction are already destroyed on their first use and thus destroyed in a new and/or brand new condition. 
       SUMMARY 
       [0006]    The object of the invention is to improve the operation of underwater vehicles. 
         [0007]    The invention achieves this object by a device according to claim  1 , by an underwater vehicle according to claim  8  and by a method according to claim  9 . 
         [0008]    The invention has recognized that it is advantageous if an unmanned underwater vehicle is provided for different intended uses and/or for different applications. The underwater vehicle is, therefore, able to carry out a plurality of different missions, for example initially a plurality of reconnaissance missions and subsequently a mission in which the destruction of the underwater vehicle is to be anticipated. 
         [0009]    Moreover, the invention has recognized that it is advantageous to provide operating personnel, who have to select an underwater vehicle from a plurality of underwater vehicles for a specific mission, with a use recommendation for the use of the underwater vehicle in a future mission. The invention has also recognized that this use recommendation is advantageously able to be made as a function of the condition, in particular the serviced state and state of wear, and/or the usability of the underwater vehicle. The invention therefore determines a usability indicator for the underwater vehicle. The use recommendation can be derived from the usability indicator. The usability indicator indicates the condition and/or the usability of the underwater vehicle. In this case, the usability indicator can be a single value. Alternatively, the usability indicator contains a set of values. 
         [0010]    Finally, the invention has recognized that the usability indicator is advantageously determined as a function of at least one operating parameter of the underwater vehicle, and in various embodiments determined from the operating parameter. For example, the operating parameter provides information about usage times and thus the state of wear and/or serviced state of the underwater vehicle. Using the usability indicator, therefore, it is possible to identify, for example, that the underwater vehicle is in a brand new condition and/or has been recently serviced so that it can be deduced therefrom, for example as a use recommendation, that this particular underwater vehicle is best suited for a mission which requires a reliable underwater vehicle and where the underwater vehicle is anticipated to return in an undamaged state. 
         [0011]    Operating parameters of the underwater vehicle are, for example, an operating time and/or operating hours and/or a travel time and/or a resting time of the underwater vehicle and/or detected environmental parameters which affect the condition of the underwater vehicle. 
         [0012]    In an advantageous embodiment, the usability indicator is a function of data of at least one operating time and/or operating hours of the underwater vehicle which have taken place in at least one previous time period. The operating time is, therefore, the time during which the underwater vehicle is actually operated and/or used for a mission and not simply stored. Specifically, the operating time has a marked influence on the ageing of the underwater vehicle, in particular on the wear of the underwater vehicle including the ageing of the battery thereof. 
         [0013]    In an advantageous embodiment, alternatively or additionally the usability indicator is a function of data of at least one travel time of the underwater vehicle which has taken place in at least one previous time period and within the operating time. During the travel time and/or whilst the underwater vehicle moves along, drives of the underwater vehicle and the battery of the underwater vehicle are subjected to particularly high levels of stress which affects the usability and/or the condition of the underwater vehicle. 
         [0014]    In an advantageous embodiment, additionally or alternatively the usability indicator is a function of data of at least one resting time of the underwater vehicle which has taken place in at least one previous time period and/or a previous resting time outside the operating time. Even during the resting time, the general condition of the underwater vehicle can deteriorate, for example by ageing of the battery, by ageing of the rubber seals or corrosion on parts of the underwater vehicle. 
         [0015]    In an advantageous embodiment, alternatively or additionally the usability indicator is a function of data of at least one environmental parameter detected during the operating time and/or travel time and/or resting time of the underwater vehicle and/or a currently detected environmental parameter. In particular, the ageing of the battery and possible corrosion are influenced by environmental parameters. Detected environmental parameters are a temperature and/or a pressure. 
         [0016]    According to a first variant, the detected temperature is a temperature of the battery of the underwater vehicle. According to a second variant, the detected temperature is the temperature of the surrounding water and/or the ambient air around the underwater vehicle. According to a third variant, the detected temperature is the temperature of the air in the underwater vehicle. The variants can be combined with one another so that the usability indicator is optionally a function of a plurality of the temperatures. The pressure is, in particular, a detected surrounding water pressure and/or a detected ambient air pressure. Alternatively or additionally, the pressure encompasses a detected pressure in the interior of the underwater vehicle and/or in the battery of the underwater vehicle. 
         [0017]    According to an advantageous embodiment, the device for operating the unmanned underwater vehicle comprises a use recommendation determining means for deriving the use recommendation from the usability indicator. The use recommendation is automatically determined according to predetermined rules, by using the usability indicator, so that the operating personnel of the underwater vehicle are subsequently provided with a decision aid when selecting an underwater vehicle suitable for a mission. Advantageously, in this case the invention differentiates between a recommended use in a non-object destruction mission without explosives and an object destruction mission, for example for the clearance of a mine. In various embodiments, the invention also differentiates whether the non-object destruction mission relates to an inspection mission and/or reconnaissance mission or a training mission for simulating an object destruction mission. 
         [0018]    In various embodiments of the invention, the underwater vehicle is equipped for one respective mission with an interchangeable body provided therefor. For example, an interchangeable body comprising explosives is provided in an object destruction version for the object destruction mission. An interchangeable body in an inspection version without explosives and comprising a plurality of sensors is provided for the inspection mission. Finally for the training mission, an interchangeable body is provided in a training version which simulates the interchangeable body in the object destruction version. In various embodiments, therefore, the use recommendation determining means provide a recommendation for use of the underwater vehicle in combination with the object destruction version or in combination with the non-object destruction version, in particular the inspection version or training version, as a function of the usability indicator. 
         [0019]    According to an advantageous embodiment, the device for operating the unmanned underwater vehicle comprises a display means for the visual display of the usability indicator or the use recommendation derived from the usability indicator. The usability indicator and/or the use recommendation is in this case coded, for example, as a visually represented color or as a digit or sequence of digits. The display means can be arranged on the underwater vehicle on an external control panel or on a further fixed or mobile device which comprises at least parts of the device according to the invention for operating the unmanned underwater vehicle. By means of the display means, operating personnel can rapidly identify the usability indicator and/or the use recommendation and thus be effectively assisted when selecting an underwater vehicle for a forthcoming mission. 
         [0020]    According to an advantageous embodiment, the device for operating the unmanned underwater vehicle comprises storage means for storing the data determined for establishing the usability indicator and/or the usability indicator and/or the use recommendation. In various embodiments, the underwater vehicle comprises the storage means. Alternatively or additionally, the storage means are located outside the underwater vehicle, for example in the external control panel. 
         [0021]    According to an advantageous embodiment, at least parts of the device for operating the unmanned underwater vehicle are arranged outside the unmanned underwater vehicle. As a result, data present externally can be taken into consideration for determining the usability indicator or the use recommendation. Moreover, the determination of the usability indicator or the use recommendation and/or the storage of the usability indicator or the use recommendation can take place, for example, on the central control panel. 
         [0022]    Thus, according to an advantageous embodiment the device for operating the underwater vehicle comprises a data interface. The data interface is configured for transmitting data for determining the usability indicator and/or for transmitting the usability indicator and/or a use recommendation derived from the usability indicator via the data interface. In this case the data are either transmitted from the central control panel to the underwater vehicle and/or from the underwater vehicle to the central control panel and/or to a mobile display device for the visual display of the usability indicator and/or the use recommendation. The transmission can take place via a cable. Alternatively or additionally, however, it can take place via radio. 
         [0023]    According to an advantageous embodiment, the data interface is configured for transmitting the charged state of at least one battery of the underwater vehicle from the underwater vehicle to a charging control device. Alternatively or additionally, an electrical cable which is provided for charging at least one battery of the underwater vehicle via the electrical cable, comprises the data interface. In any case, the data interface is implemented here by an otherwise present connection of the underwater vehicle to a fixed device. The fixed connection is generally provided continuously for monitoring and controlling the charged state of the battery of the underwater vehicle when stored. The charging control device is in various embodiments configured such that by repeated recharging of the battery, which in various embodiments comprises at least one lithium-ion rechargeable battery, the charging control device maintains the charged state of the battery in a range of between 60 and 70 percent of its full charging capacity. In such a charged state, chemical processes which could lead to the ageing of the battery are minimized. Moreover, it is possible to recharge the battery within about 10 to 15 minutes up to 100 percent or virtually 100 percent of its charging capacity and thus to make the underwater vehicle with the battery ready for use. 
         [0024]    According to an advantageous embodiment, the device for operating the unmanned underwater vehicle comprises usability indicator resetting means for altering and/or adjusting the usability indicator as a function of a recorded servicing of the underwater vehicle. By means of servicing, the condition of the underwater vehicle is generally improved further so that the recently serviced underwater vehicle is suitable again for missions requiring a high degree of reliability, even when the underwater vehicle has already undertaken numerous missions and/or has completed a long service life. 
         [0025]    The usability indicator resetting means in this case can be configured such that they reset the usability indicator to a value which differs from the value to which the usability indicator has been reset in response to previous servicing. After servicing has been carried out, the usability indicator is not reset to 0 or a fixed value but to a value which is calculated as a function of the data for determining the usability indicator and/or the usability indicator itself and/or a number of servicing operations carried out and/or missions carried out by means of the usability indicator resetting means. 
         [0026]    According to an advantageous development of the invention, the device can be configured such that the device automatically blocks use of the underwater vehicle when the usability indicator associated with the underwater vehicle and/or the associated use recommendation reaches or exceeds a fixed value. The fixed value can be a function of the use provided and/or the mission for which the underwater vehicle is intended to be used. In this case, the usability indicator could be set by servicing of the underwater vehicle to a value below the threshold value and thus the underwater vehicle made ready for use by servicing for the forthcoming mission. 
         [0027]    According to an advantageous embodiment, the determining means are configured for taking into account the usability indicators of a plurality of underwater vehicles when deriving the use recommendation. In this manner, assistance is provided to the operating personnel as to which of a plurality of available underwater vehicles should be selected for one respective mission. By way of example, an underwater vehicle, which in principle, is suitable for a forthcoming mission does not receive the use recommendation for carrying out the mission because at least one further underwater vehicle appears to be even better suited to this mission according to its usability indicator. 
         [0028]    An underwater vehicle according to various embodiments of the invention has the determining means of the device according to the invention for operating the underwater vehicle and/or storage means for storing the usability indicator determined by means of the device according to the invention. As a result, it is possible to move the underwater vehicle, for example, to a different marine vessel and to be able to provide immediately the associated usability indicator, the usability indicator being either calculated or read from the storage means. 
         [0029]    According to various embodiments of the invention, the underwater vehicle comprises further parts of the device for operating the underwater vehicle or the device or means for carrying out the method according to the invention for operating the underwater vehicle. 
     
    
     
       DRAWINGS 
         [0030]    Further embodiments are revealed from the claims and from exemplary embodiments described in more detail with reference to the drawings. 
           [0031]      FIG. 1  shows an unmanned underwater vehicle as well as three interchangeable bodies which are able to be alternately fastened thereto, as well as a charging control device and a central control panel according to various embodiments of the invention. 
           [0032]      FIG. 2  shows a schematic view of a device for operating the unmanned underwater vehicle of  FIG. 1  according to various embodiments of the invention. 
           [0033]      FIG. 3  shows a block diagram for illustrating a method for operating the unmanned underwater vehicle of  FIG. 1  according to various embodiments of the invention. 
       
    
    
     DETAILED DESCRIPTION 
       [0034]    The  FIG. 1  shows an unmanned underwater vehicle  2  which is mounted, for example, on-board a marine vessel and is connected by means of an electrical cable  4  to a charging control device  6 . The electrical cable  4  can comprise a plurality of electrical conductors. The unmanned underwater vehicle  2  comprises batteries  8  and  8 ′ as well as further batteries which are arranged in a concealed manner and which are all configured as lithium-ion rechargeable batteries which can be charged up and the charged state thereof being monitored by means of the charging control device  6  via the electrical cable  4 . If the charged state falls below a value of 60 percent of the charging capacity of the batteries  8  and  8 ′, the charging control device  6  initiates a recharging of the batteries  8  and  8 ′ via the electrical cable  4 . By means of the charging control device  6  the charged state of the batteries  8  and  8 ′ is maintained between 60 percent and 70 percent of the charging capacity of the batteries  8  and  8 ′. 
         [0035]    By means of the batteries  8  and  8 ′, at least electrical drive means  10  and  10 ′ and optionally further or all further electrical devices of the unmanned underwater vehicle  2  are supplied with electrical power. The electrical drive means  10  and  10 ′ are provided for driving propellers  12  and  12 ′ of the underwater vehicle  2 . 
         [0036]    A temperature sensor  14  and/or  14 ′ as well as a pressure sensor  16  and/or  16 ′ are arranged on the batteries  8  and  8 ′. The sensors  14 ,  14 ′,  16 ,  16 ′ monitor the temperature of the battery  8  and/or  8 ′ and the pressure in the battery  8  and/or  8 ′ and/or the pressure in the surroundings of the battery  8  and/or  8 ′ into which the battery  8  and/or  8 ′ might be degassed in the event of a defect, inside a pressure shell of the underwater vehicle  2 . 
         [0037]    Moreover, the unmanned underwater vehicle  2  comprises an operating hours meter and/or operating time meter  18  which detects the operating hours and/or the operating time of the underwater vehicle  2 . Alternatively or additionally, a travel time meter and/or a resting time meter can also be provided. 
         [0038]    Data from the operating time determined by means of the operating time meter  18  and data which has been determined by means of the temperature sensors  14  and  14 ′ as well as by means of the pressure sensors  16  and  16 ′, are stored in a storage means  20 . Moreover, the unmanned underwater vehicle  2  comprises determining means  22  for determining a usability indicator, the determining means  22  using currently determined values therefor, for example by means of the temperature sensors  14  and  14 ′ as well as by means of the pressure sensors  16  and  16 ′, and/or data stored in the storage means  20 . A usability indicator determined as a function of the values and/or data, is, for example, represented as a numerical value or color on a visual display means  24  of the underwater vehicle  2 . For example, after a lengthy operating time or in the event of a raised temperature of the battery  8 , a raised usability indicator is determined and a higher numerical value or a different color is emitted to and/or displayed on the visual display means  24 . 
         [0039]    At the same time a data interface  26  is provided by the electrical cable  4 , via which the usability indicator is transmitted by the charging control device  6  and a further electrical cable  28  to a central control panel  30 . The central control panel  30  has further storage means  20 ′ for storing the usability indicator as well as use recommendation determining means  32  which, based on the usability indicator, in particular by taking into account the usability indicators of further underwater vehicles and/or as a function of a planned mission, derive a use recommendation for the underwater vehicle  2  from the usability indicator. The use recommendation is also optionally stored in the storage means  20 ′ and displayed on a display means  24 ′ which is configured as a screen and/or display of the control panel  30 . 
         [0040]    The invention is not limited to the above-described arrangement of the operating time meter  18 , the storage means  20  and  20 ′, the determining means  22 , the visual display means  24  and  24 ′ and the use recommendation determining means  32 , with regard to the arrangement on the unmanned underwater vehicle  2  and/or on the central control panel  30 . For example, an operating time or resting time of the underwater vehicle  2  could also be determined at the central control panel  30  and transmitted via the data interface  26  to the underwater vehicle  2 . 
         [0041]    It is also possible initially to forward all data together to the central control panel  30 , the data being used for determining the usability indicator, for example via the data interface  26 , and to determine there the usability indicator as well as the use recommendation for the underwater vehicle  2 . The determined usability indicator and/or the determined use recommendation can then in turn be transmitted via the data interface  26  to the underwater vehicle  2  and stored and/or visually displayed there. Alternatively or additionally, for displaying the usability indicator and/or the use recommendation to the underwater vehicle  2 , a radio connection to a portable computer and/or electronic tablet can also be created in order to produce a display there of the usability indicator and/or the use recommendation. 
         [0042]    The underwater vehicle  2  comprises receiver means  34  having fixing means, by means of which one of a plurality of interchangeable bodies  36 ,  38  and  40  can be removed from the underwater vehicle  2  and/or fixed to the underwater vehicle  2 . 
         [0043]    The underwater vehicle  2  can be equipped according to one respective intended use by means of the interchangeable bodies  36 ,  38 ,  40 . The use determination, which is determined by means of the use recommendation determining means  32 , generally requires that just one of the interchangeable bodies  36 ,  38  or  40  is fastened to the underwater vehicle  2  according to the use determination, when the underwater vehicle  2  is intended to carry out a mission according to the proposed use recommendation. 
         [0044]    The interchangeable body  36  is an object destruction version which comprises explosives and is used for an object destruction mission, for example for clearing underwater mines. The interchangeable body  38  is a so-called dummy body and/or a training version which simulates the interchangeable body  36  so that the approach of the underwater vehicle  2  to a mine can be tested without explosives  42  being carried along with the underwater vehicle  2 . Thus, the underwater vehicle  2  is able to be salvaged after the end of the mission. 
         [0045]    The interchangeable body  40  is finally an inspection version which, for example, has a camera  44  as well as a sonar device  46  and optionally further or other sensors, not shown. Moreover, interchangeable bodies with actuators can be provided which, for example, permit repairs to be carried out to the base of a wind power installation located in the water or to repair an underwater pipeline. 
         [0046]      FIG. 2  shows a block diagram of a device  50  according to the invention for operating the unmanned underwater vehicle, in particular the unmanned underwater vehicle  2  of the exemplary embodiment according to  FIG. 1 . The device  50  comprises a plurality of sensors and/or meters, namely the temperature sensor  14 , the pressure sensor  16  and the operating time meter  18 . Moreover, the device  50  comprises the storage means  20  and  20 ′, the display means  24  and  24 ′, the determining means  22  for determining the usability indicator, the use recommendation determining means  32 , the data interface  26  as well as a usability indicator resetting means  52 , not shown in  FIG. 1 , but optionally arranged on the underwater vehicle  2  or on the central control panel  30 . By means of the usability indicator resetting means  52 , the usability indicator can be reset, for example, to a value which is a function of the number of missions carried out and/or the number of servicing operations carried out. 
         [0047]    At least the determining means  22 , the usability indicator resetting means  22  and the use recommendation determining means comprise separate or common computing means and algorithms for calculating and/or resetting the usability indicator and/or for calculating the use recommendation. 
         [0048]      FIG. 3  is a flow chart illustrating a method  54  according to the invention for operating an unmanned underwater vehicle, in particular the underwater vehicle  2  according to  FIG. 1 , with reference to a block diagram. 
         [0049]    The method  54  starts with a step  56 , followed by determining a usability indicator in a step  58  and storing the usability indicator in a step  60 . The usability indicator is subsequently transmitted in a step  62  via the data interface  26  to the control panel  30 . Alternatively or additionally, a transmission is possible to a mobile device or to a display means for displaying the usability indicator on the underwater vehicle  2  or outside the underwater vehicle  2 . 
         [0050]    Step  62  is followed by a step  64  in which the underwater vehicle  2  is stored. In this case the battery  8 ,  8 ′ which is integrated fixedly in the underwater vehicle  2  is monitored, in particular with regard to its charged state, and recharged if required. Moreover, measures for carrying out maintenance and obtaining materials, such as full or partial charging and/or discharging of the battery  8 ,  8 ′ are regularly carried out in cycles. The charged state of the battery  8 ,  8 ′ is in this case kept at a value of approximately 60 to 70 percent of its charging capacity. 
         [0051]    In a step  66 , one respective use recommendation for the underwater vehicle  2  is determined from the usability indicator, in particular in combination with the usability indicators of further underwater vehicles. The use recommendation is subsequently visually displayed and/or visually represented or displayed in a different manner in a step  68 . The underwater vehicle  2  being selected for a forthcoming mission can form part of the use recommendation. Optionally, however, the underwater vehicle  2  is also selected manually using the use recommendation  68 . Whether the underwater vehicle  2  is selected for a forthcoming mission, as illustrated by a query  70 . If the underwater vehicle  2  is accordingly selected, according to a step  72  the interchangeable body  36 ,  38  or  40  required for this mission is fastened to the underwater vehicle  2 , provided it is not yet fastened thereto. 
         [0052]    Subsequently, the mission is started in a step  74 , the underwater vehicle  2  being let into the water and carrying out its mission in an autonomous or remotely controlled manner. During the mission, data are determined and/or detected according to a step  76 , in particular by means of the operating time meter  18 . Additionally, different environmental parameters such as temperature and pressure can be detected. The detection of data can optionally also be continued at least partially after the end of the mission. The data detected in step  76  are stored according to a step  78 . 
         [0053]    According to a step  80 , the mission is subsequently terminated. If the mission is terminated by detonating the explosives  42  in the interchangeable body  36 , the method is also terminated in step  80 . Otherwise, the mission is generally terminated when the underwater vehicle  2  has returned to a salvaged position and from there is raised out of the water. The interchangeable body  38  and/or  40  is then potentially removed according to a step  82  but alternatively can also remain on the underwater vehicle  2 . Now the method is continued in step  58  with storage, including trickle charging for the battery  8 . 
         [0054]    If the underwater vehicle  2  has not been selected in the query  70  for a forthcoming mission, this can be because the underwater vehicle  2  is currently not serviced and thus possibly has a usability indicator which is unsuitable for the mission. According to a query  84 , it is possible to make the decision whether servicing is to be carried out. After a positive decision according to a step  86 , the servicing of the underwater vehicle  2  is carried out and subsequently in step  58  the usability indicator is determined again. In particular, as a result of the maintenance the usability indicator is reset to a lower value but not to zero. 
         [0055]    In particular, when the usability indicator reaches or exceeds a defined acceptance value, the underwater vehicle  2  is temporarily locked from use and first has to be subjected to servicing in order to lower the usability indicator again. 
         [0056]    If the underwater vehicle  2  according to a query  88  has a usability indicator which also could no longer be reduced by potential servicing to an acceptable value, i.e. if the usability indicator is above the acceptance value and after possible servicing would also remain above this acceptance value, the end of the service life of the underwater vehicle  2  is reached so that the underwater vehicle  2  in a step  90  is permanently blocked from further use, whereby the method according to step  92  is terminated. 
         [0057]    All the features cited in the above description and in the claims are able to be used individually and in any combination. The disclosure of the invention is therefore not limited to the described and/or claimed combinations of features. On the contrary, all combinations of features should be considered as disclosed.