Abstract:
The invention relates to a salvaging device and a salvaging method for salvaging condensed matter, such as an underwater vehicle, located on the water surface of a waterway. The salvaging device is an unmanned watercraft and comprises a boat hull with a manoeuvring means and with a carrier device as well as a salvaging receptacle fastened to the boat hull. The watercraft is manoeuvred in a self-driven manner on the water surface and collects the condensed material into the salvaging receptacle where the collected matter is stored. A crane of a supply ship then lifts the salvaging device and stored condensed matter out of the waterway. The invention permits the salvaging of the condensed matter, e.g., an underwater vehicle, with a reduced risk of damage to the condensed matter, as well as with a reduced risk to personnel who do not need to enter the water for this purpose.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims the benefit, under 35 U.S.C. §119, of DE 10 2011 122 533.5, filed Dec. 27, 2011, the disclosure of which is incorporated herein by reference in its entirety. 
       FIELD 
       [0002]    The present teachings relate to a salvaging device and a salvaging method for salvaging condensed matter which is located on the water surface of a waterway, in particular for salvaging an unmanned underwater vehicle. 
       BACKGROUND 
       [0003]    The statements in this section merely provide background information related to the present disclosure and can not constitute prior art. 
         [0004]    Autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs) are generally released into the water by a supply ship before carrying out a mission and after the end of the mission the underwater vehicle is salvaged again by the supply ship. 
         [0005]    Different versions are produced of such a known underwater vehicle configured as an AUV. A “combat version” is detonated during or after the mission and thus does not have to be salvaged. A so-called “inspection version” and a so-called “training version” are salvaged in different ways. The inspection version of the underwater vehicle is collected by means of a net, lifted out of the water by means of a crane and moved to the deck of the supply ship. To this end, the underwater vehicle has to be maneuvered into the immediate vicinity of the supply ship which involves the risk of a collision with the supply ship and thus the risk of damage to the underwater vehicle, in particular in the event of rough seas and/or high winds. 
         [0006]    An apparatus for salvaging a device floating on the water surface, such as for example an underwater vehicle, is disclosed in DE 195 44 656 C1, by which the risk of damage to the underwater vehicle during the salvaging operation is reduced, even in the case of rough seas. There are, however, situations such as, for example, low battery voltage, malfunctions and/or an accident to the underwater vehicle in which the underwater vehicle is not able to be automatically recovered by means of a net or a line. Even the training version of the underwater vehicle is, in principle, not able to be directly recovered by means of a net or a line by the supply ship, as the training version is similar to the combat version of the underwater vehicle and, therefore, in the manner of the combat version of the underwater vehicle, for safety reasons has a protective mechanism which is not able to be switched off, which prevents the underwater vehicle from approaching the supply ship below a minimum distance. 
         [0007]    In all of these cases in which the underwater vehicle is not able to be directly salvaged by the supply ship by means of a net or by means of a line, an inflatable boat with a crew is generally released into the water, the crew manually collects the underwater vehicle and brings the underwater vehicle together with the inflatable boat back on board the supply ship. The salvaging of the underwater vehicle by means of an inflatable boat is, however, in many respects a dangerous undertaking, in particular in rough seas, in high winds and/or in cold weather. For example, a collision of the underwater vehicle with the inflatable boat can lead to damage of the underwater vehicle, damage of the inflatable boat, capsizing of the inflatable boat and injury of the crew. 
       SUMMARY 
       [0008]    The object of the invention, in view of the above, is to reduce risks when salvaging condensed matter located on the water surface of a waterway, in particular an unmanned underwater vehicle, and to facilitate the salvaging operation. 
         [0009]    The term “condensed matter”, as used herein, encompasses observed objects, which have a rest mass, in the form of a solid body, liquid or soft matter. The invention, however, relates in particular to the salvaging of an unmanned underwater vehicle which is preferably configured as an autonomous underwater vehicle (AUV), but alternatively can also be configured as a remotely operated underwater vehicle (ROV) operating by a cable connection. 
         [0010]    The invention solves this object by providing an unmanned watercraft as a salvaging device which is partially interposed relative to the supply ship for salvaging the condensed matter and/or the underwater vehicle. The unmanned watercraft and/or the salvaging device collects the condensed matter and/or the underwater vehicle, whilst the salvaging device with the condensed matter and/or the underwater vehicle subsequently travels back to the supply ship and is collected by the supply ship and lifted out of the water. 
         [0011]    The collection of the underwater vehicle by the salvaging device takes place without a crew on board the salvaging device, preventing a risk to personnel during the salvaging operation. Moreover, the underwater vehicle is protected from damage by the salvaging device when the salvaging device approaches the supply ship with the underwater vehicle and is lifted out of the water by the supply ship. Moreover, there is less risk of a collision of the salvaging device with the supply ship than a collision of the underwater vehicle with the supply ship, as the salvaging device together with the underwater vehicle is located in a more stable manner in the water due to its greater mass relative to the underwater vehicle. Finally, the salvaging device is also able to be collected more easily by the supply ship than the underwater vehicle. The underwater vehicle is optimized for its actual intended use and thus for movement below the water surface which is contrary to a design which is optimal in terms of being able to be salvaged itself. The salvaging device, however, does not have to be submersible and, therefore, is preferably an unmanned surface watercraft which is specifically designed to be salvaged by the supply ship. 
         [0012]    In detail, the salvaging device has a boat hull and a salvaging receptacle fastened thereto. The boat hull in turn comprises a maneuvering means for maneuvering in a self-driven manner on the water surface of a waterway and a carrier device for lifting the watercraft out of the waterway by means of a crane. The salvaging receptacle is configured for collecting condensed matter located on the water surface into the salvaging receptacle even outside the range of the crane. Moreover, the salvaging receptacle is configured for storing the collected matter in the salvaging receptacle when maneuvered into the range of the crane. Finally, the salvaging receptacle is configured for lifting the stored condensed matter together with the watercraft out of the waterway. 
         [0013]    According to the salvaging method of the invention, the watercraft is maneuvered in a correspondingly self-driven manner on the water surface of the waterway, the watercraft collects the condensed matter into the salvaging receptacle fastened to the boat hull, in particular outside the range of the crane for lifting the watercraft out of the waterway, and is maneuvered into the range of the crane and at the same time stores the collected condensed matter in the salvaging receptacle. The crane finally lifts the watercraft together with the condensed matter stored in the salvaging receptacle out of the waterway, by means of the carrier device. 
         [0014]    The invention is not limited to the salvaging of an underwater vehicle. Instead, the condensed matter can be any solid body, for example, a watercraft, a living or dead person, a buoy, a mine or refuse. The salvaging receptacle is preferably a trough, a net, a cage or a refuse bag for collecting, storing and recovering the solid body. The trough is preferably water-permeable, so that only the solid body is stored and water is able to flow out, for example when the salvaging device is lifted with the solid body out of the water. Moreover, the trough can be configured to be rigid or even flexible. 
         [0015]    Alternatively, the condensed matter can be a liquid, e.g., a chemical or oil. Accordingly, the salvaging receptacle can be a receptacle or a trough for collecting, storing and recovering the liquid. The receptacle and/or the trough is, once again, configured to be rigid or flexible. 
         [0016]    Thus, the invention can be used, for example, for rescuing people overboard and floating in the water, for salvaging floating bodies, for removing refuse, for recovering buoys or for cleaning the waterway of environmental pollutants floating on the water surface, such as for example discharged oil. The salvaging receptacle is selected and/or optimized for the respective purpose and/or the type of condensed matter to be salvaged. 
         [0017]    In various embodiments of the invention, different variants of the salvaging receptacle are provided which can be used in an interchangeable manner for salvaging different types of condensed matter. The salvaging device can, therefore, be equipped in turn with the different variants of the salvaging receptacle and used in many different ways. 
         [0018]    Preferably, the salvaging receptacle is able to adopt a plurality of positions, namely at least one collecting position with an opening for collecting the condensed matter as well as a storage position which can be alternatively adopted, in which the opening for the collected condensed matter is closed, for storing the collected condensed matter. By changing the positions of the salvaging receptacle, therefore, the condensed matter and/or the underwater vehicle can be stored securely in the salvaging receptacle after being collected. 
         [0019]    In various embodiments, the salvaging device has a mounting for the salvaging receptacle that is pivotable relative to the boat hull of the salvaging device, for changing from the collecting position to the storage position of the salvaging receptacle. If the watercraft floats on the surface of the waterway, the mounting is pivotable from a position below the water surface to a position above the water surface and preferably also vice versa. According to the method, the mounting pivots from the position below the water surface to the position above the water surface, so that the condensed matter is able to move by floating in the water through the opening into the salvaging receptacle, but after the pivoting of the mounting above the water surface is collected in the salvaging receptacle and/or secured against floating out. 
         [0020]    In various embodiments, the boat hull comprises at least one floating body for providing static buoyancy. As a result, the salvaging device is passively, in particular permanently, held as a surface watercraft on the water surface. Even when the salvaging device is incapable of being maneuvered in the event of a defect, it therefore continues to float on the surface of the waterway. 
         [0021]    In various embodiments, the boat hull comprises at least two of the floating bodies which are aligned, in particular, parallel to one another and are able to collect the condensed matter in the middle thereof. Moreover, the salvaging device preferably has at least one pair of pivoting arms which are pivotable relative to one another in order to fold up the boat hull. The pivoting arms are connected in each case with one end to the carrier device and with the other end thereof to one respective floating body. As a result, it is possible to stow the salvaging device in a space-saving manner on board the supply ship, whilst the salvaging device is able to adopt a stable position on the water with the pivoting arms spread apart. 
         [0022]    In advantageous embodiments, the salvaging device has a damping means for damping the striking of the stored condensed matter and/or the salvaging receptacle with the stored condensed matter against the boat hull. The damping means are preferably arranged on the boat hull, particularly on the floating body and/or on the floating bodies. The condensed matter stored in the salvaging device and/or the underwater vehicle, therefore, does not strike directly against the boat hull and/or against the floating body or floating bodies but against the damping means so that damage to the condensed matter and/or the underwater vehicle is prevented when transported with the salvaging device. 
         [0023]    In various embodiments, the salvaging device has a visual observation device for providing image data in order to monitor the collection of the condensed matter by means of the image data. The visual observation device comprises, for example, a camera. 
         [0024]    In various embodiments, the salvaging device has an illuminating device for illuminating the condensed matter when monitoring the collecting operation. In this manner, the salvaging operation is assisted during the hours of darkness. 
         [0025]    In various embodiments, the salvaging device has a control device for controlling the maneuvering means according to control signals provided. In this manner, the salvaging device is able to be remotely controlled. 
         [0026]    In various embodiments, the salvaging device also has a radio communication device for receiving the control signals via radio and supplying the control signals for the control device. The salvaging operation can, therefore, be remotely controlled via radio. 
         [0027]    According to various embodiments of the invention, the radio communication device is also configured for transmitting confirmation signals. As a result, a bidirectional communication and/or a data exchange is possible via the radio communication device between the salvaging device and, for example, a supply ship. 
         [0028]    Alternatively or additionally, the radio communication device is provided for transmitting via radio the image data supplied by means of the visual observation device. In this manner, the salvaging operation can be visually monitored re-motely. 
         [0029]    Further embodiments are revealed from the claims and from the exemplary embodiments described in more detail with reference to the drawings. 
         [0030]    Additionally, further areas of applicability of the present teachings will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present teachings. 
     
    
     
       DRAWINGS 
         [0031]    The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present teachings in any way. 
           [0032]      FIG. 1  shows a salvaging device configured as an unmanned watercraft according to various exemplary embodiments of the present disclosure in a view from the front. 
           [0033]      FIG. 2  shows the salvaging device/unmanned watercraft of  FIG. 1  in a sectional view from the side according to section A in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
           [0034]      FIG. 3  shows the salvaging device configured as an unmanned watercraft according to other exemplary embodiments of the present disclosure in a view from the front. 
           [0035]      FIG. 4  shows the salvaging device/unmanned watercraft of shown in  FIG. 3  with pivoting arms folded up in a view from the rear, in accordance with various embodiments of the present disclosure. 
           [0036]      FIG. 5  shows a block diagram for illustrating a salvaging method according to various embodiments of the present disclosure. 
       
    
    
       [0037]    Corresponding reference numerals indicate corresponding parts throughout the several views of drawings. 
       DETAILED DESCRIPTION 
       [0038]    The following description is merely exemplary in nature and is in no way intended to limit the present teachings, application, or uses. Throughout this specification, like reference numerals will be used to refer to like elements. 
         [0039]      FIGS. 1 and 2  show an unmanned watercraft  1  as a salvaging device  1  according to various embodiments of the present disclosure.  FIG. 1  shows the salvaging device  1  in a front view, floating on the water surface  2  of a waterway  4 , together with a collected underwater vehicle  6  as an example of condensed matter to be salvaged. 
         [0040]    The salvaging device  1  is configured as a surface watercraft and has a boat hull  8  with two floating bodies  10  and  12  which ensure buoyancy in the water and/or in the waterway  4 , which keeps the salvaging device  1  floating on the water surface  2  of the waterway  4 . The floating bodies  10  and  12  are spaced apart from one another, arranged parallel to one another and connected together by means of a framework  14  above the water surface  2 , so that the salvaging device  1  is configured in the manner of a catamaran and is located in the water  2  in a stable manner. A compact boat structure  16  is arranged at the top on the framework  14 . Moreover, the salvaging device  1  has a carrier device  18  arranged substantially centrally above the center of gravity of the salvaging device  1 , and configured as a hook. The carrier device  18  is connected directly or indirectly, for example via the boat structure  16 , to the framework  14  and protrudes above the framework  14  and the boat structure  16 , so that the salvaging device  1  is able to be lifted out of the waterway  4 , for example by means of a cable which can be hooked onto the carrier device  18 , by a crane arranged on a supply ship, with a substantially horizontal alignment of the watercraft  1 . The hook and/or the carrier device  18  are configured such that even in rough seas the salvaging device  1  is able to be collected and salvaged in a simple manner as it is maneuvered, for example, in the direction of a cable held substantially horizontally above the water surface  2 , at least locally substantially transversely to the direction, so that the carrier device  18  is hooked onto the cable and the aforementioned crane is able to lift the salvaging device out of the water by means of the cable. 
         [0041]    For maneuvering on the water surface  2 , the boat hull  8  has two maneuvering means  20  and  22  arranged in each case below one of the floating bodies  10  and  12  and configured as drive gondolas. The maneuvering means  20  and  22  have energy storage devices in the interior thereof, not shown in the drawings, and motors supplied with electrical energy by the energy storage devices, which drive screw propellers and/or propellers  24  and  26 . 
         [0042]    According to an alternative exemplary embodiment, the maneuvering means  20  and  22  are not configured as drive gondolas but integrated in the floating bodies  10  and  12 . Moreover, the maneuvering means  20  and  22  can alternatively be arranged such that the front end and rear end of the salvaging device  1  are interchanged relative to the view in  FIG. 1 , the terms being accordingly interchanged where mentioned below in the description. 
         [0043]    The maneuvering means  20  and  22  are controlled by an electronic control unit and/or control device  28  arranged in the boat structure  16 . A radio communication device  30  also arranged on the boat structure  16  receives by means of an antenna  31  the control signals via radio, preferably from the aforementioned supply ship, and supplies them to the control device  28 . Conversely, the radio communication device  30  returns confirmation signals to the supply ship, the signals indicating successful reception of the control signals. 
         [0044]    An observation device  32  configured as a camera and/or comprising a camera and two floodlights and/or illuminating devices  34  comprising two floodlights, merely by way of example, are arranged on the boat structure  16 . The camera  32  and the floodlights  34  are aligned towards the front end of the salvaging device  1  and obliquely to the water surface  2 , so that the collection of the underwater vehicle  6  can be monitored by means of the observation device  32 . The observation direction of the camera  32  is either fixedly predetermined or adjustable, in particular pivotable. The pivoting of the observation direction takes place, for ex-ample, by motorized pivoting of the camera  32 . 
         [0045]    The underwater vehicle  6  located on the water surface  2 , which also already protrudes partially from the water surface  2  before the collecting operation, can thus be visually detected by means of the observation device  32 , the underwater vehicle  6  being able to be additionally illuminated by means of the illuminating device  34 , in particular in darkness. The observation device  32  is connected to the radio communication device  30  such that image data can be transmitted from the observation device  32  to the radio communication device  30  and from the radio communication device  30  by means of the antenna  31  to the supply ship. The collection can be visually monitored, therefore, and automatically or manually controlled depending on the image data. 
         [0046]    Alternatively or additionally, the salvaging device  1  comprises a radar reflector and/or a responder, radar signals and/or radio signals being able to be taken into account, in particular as distance measurements, for example via propagation times, during the collecting operation and/or when controlling the collection of the condensed matter  6 . 
         [0047]    In the view shown in  FIG. 1 , the underwater vehicle  6  is collected and stored in a salvaging receptacle  36  of the salvaging device  1 , fastened to the boat hull  8  and configured as a net. In particular, the net  36  is fastened at the rear end of the salvaging device  1  to the boat hull  8  and/or to the floating bodies  10  and  12 . The net  36  is fastened at the front end of the salvaging device  1  to a mounting and/or mountings  38  and  40 . The edge of the net  36  is denoted at the front end of the salvaging device  1  by the reference numeral  36   a  and at the rear end of the salvaging device  1  by the reference numeral  36   b.    
         [0048]    The mountings  38  and  40  are arranged on mounting rods  42  and  44  and, in the storage position  46  shown in  FIG. 1  of the net  36 , arranged in a position PO above the water surface  2 . The edge  36   a  of the net  36  at the front end of the salvaging device  1  is arranged in the storage position  46 , thus also above the water surface  2 . The underwater vehicle  6  in this storage position  46  is stored securely in the net  36  and thus can be transported by means of the salvaging device  1  to the supply ship and lifted together with the salvaging device  1  out of the waterway  4 . Damping means  47  and  48  are arranged on the floating bodies  10  and  12  for dampening the potential striking of the underwater vehicle  6  against the floating bodies  10  and  12 , in particular in rough seas and reduce the risk of damage to the underwater vehicle  6 . To this end, the damping means  47  and  48  preferably comprise a reversibly deformable material. Alternatively or additionally, damping means  47  and  48  can also be arranged on the framework  14 . 
         [0049]      FIG. 2  shows the salvaging device and/or the unmanned watercraft  1  of the exemplary embodiments of  FIG. 1  in a sectional view from the side according to the section A indicated in  FIG. 1 . In  FIG. 2 , the rear end of the salvaging device  1  is arranged to the left and the front end to the right. The same reference numerals denote the same components. 
         [0050]    In contrast to the view according to  FIG. 1 , the salvaging device in  FIG. 2  is shown without the underwater vehicle  6 . Moreover, the salvaging receptacle and/or net  36  is not only shown in the storage position  46  but additionally in a collecting position  49  in dashed lines as the salvaging receptacle and/or net  36 ′. The reference numerals  36  and  36 ′ denote, therefore, the same net  36 ,  36 ′ in the storage position  46  and/or in the collecting position  49 , but only one of the positions  46 ,  49  being able to be adopted by the net  36 ,  36 ′ at any point in time. 
         [0051]    In the collecting position  49 , the mounting  40  is arranged as a mounting  40 ′ in a position PU below the water surface  2  when the salvaging device  1  is located in the waterway  4 . It should be understood that the mounting  38 , not shown in  FIG. 2  is simultaneously arranged in a position PU below the water surface  2  when the salvaging device  1  is located in the waterway  4 . As a result, it is possible for the salvaging device  1  to be moved with the floating bodies  10  and  12  along both sides laterally adjacent to the underwater vehicle  6 , and at the same time pull the net  36 ′ below the underwater vehicle  6 . The required relative movement of the salvaging device  1 , in relation to the underwater vehicle  6 , is effected in this case by the maneuvering means  20  and  22 , but alternatively or additionally also by drives of the underwater vehicle  6 . 
         [0052]    In the exemplary embodiments shown in  FIG. 2 , the exchange between the storage position  46  and the collecting position  49  takes place by the mounting  40  (and mounting  38  not shown) being pivoted relative to the boat hull  8  via a central position PM, in which the mounting  40 ,  40 ′ is denoted by the reference numeral  40 ″, from the position PO to the position PU. The pivoting from the storage position  46  into the collecting position  49  takes place by the mounting rod  44  and/or similarly the mounting rod  42  being pivoted about a rotational axis arranged horizontally in the region of the floating body  12 , until the mounting  40 ′ reaches the position PU, in which the mounting rod  44  is denoted by the reference numeral  44 ′, via the position PM, in which the mounting rod  44  is denoted by  44 ″. Naturally, alternative embodiments of the invention are also possible which provide an opening OE for the underwater vehicle  6  in the net  36  in the region of the water surface  2 , when the net  36  is located in the collecting position  49 , the opening OE being closed in the storage position  46 . 
         [0053]      FIG. 3  shows a salvaging device  1 ′ configured as an unmanned watercraft which floats on the water surface  2  of the waterway  4  in the manner of the salvaging device  1  as described above with regard to  FIGS. 1 and 2 , according to various other exemplary embodiments of the invention in a view from the front. The salvaging device  1 ′ is largely similar to the salvaging device  1 . In particular, the same reference numerals denote the same or at least similar components and/or positions. The essential difference of the salvaging device  1 ′ relative to the salvaging device  1  is a pivotability of the floating bodies  10  and  12  relative to one another. The pivotability is achieved by a framework  14 ′ which has a central framework portion  50  and two pivoting arms  52  and  54  which are pivotable relative to the central framework portion  50  and thus relative to one another. In the view according to  FIG. 3 , the pivoting arms  52  and  54  are spread apart, so that an arrangement of the pivoting bodies  10  and  12  relative to one another is produced which is similar to the arrangement of the pivoting bodies  10  and  12  in the salvaging device  1  according to  FIG. 1 . In this arrangement, the pivot axes for the mounting rods  42  and  44 , which are shown here in the collecting position  49  as the mounting rods  42 ′ and  44 ′, are pivotable about horizontally arranged pivot axes extending in the transverse direction of the salvaging device  1 ′. This accordingly results in the pivotability of the mounting  40 ′ and/or a mounting  38 ′, which denotes the mounting  38  in the collecting position  48 . 
         [0054]    The pivoting rods  42  and  44  and/or  42 ′ and  44 ′ are preferably pivotable by electric motor, a drive device such as an electric motor, for example a servo motor with a gear unit, being arranged on the floating bodies  10  and  12  or one of the floating bodies  10  or  12 . 
         [0055]    The pivoting arms  52  and  54  can also be pivotable in a motorized manner. Alternatively, however, a pivotability can also be provided which is manual and/or produced mechanically without a motor. Preferably, the pivoting arms  52  and  54  are able to be latched in the arrangement shown in  FIG. 3  to the central framework portion  50 , such that they remain in the folded up and/or spread apart position and do not automatically pivot relative to one another until they are actively released from this position. 
         [0056]    The maneuvering means  20  and  22  are not arranged centrally below the floating bodies  10  and  12  relative to the arrangement in the salvaging device  1  according to  FIG. 1 , but in contrast are arranged offset relative to the outer faces of the salvaging device  1 ′. As a result, a substantial pivoting of the pivoting arms  52  and  54  towards one another and thus a space-saving accommodation of the salvaging device  1 ′ is possible, without the maneuvering means  20  and  22  opposing such an arrangement or colliding with one another when pivoted and thus being able to be damaged. 
         [0057]    In a deviation from the exemplary embodiments shown, however, the maneuvering means  20  and  22  can also be configured to be removable from the floating bodies  10  and  12 . In this case, an arrangement of the maneuvering means  20  and  22  centrally below the floating bodies  10  and/or  12  according to the exemplary embodiments of  FIG. 1  is advantageous even in the case of a pivotability of the floating bodies  10  and  12  relative to one another. Before folding up the salvaging device  1 ′ by pivoting the floating bodies  10  and  12  towards one another, in this case the maneuvering means and/or drive gondolas  20  and  22  are dismantled. Alternatively, the maneuvering means  20  and  22  can in turn be integrated in the floating bodies  10  and  12 . 
         [0058]      FIG. 4  shows the salvaging device and/or the unmanned watercraft  1 ′ of the exemplary embodiments according to  FIG. 3  with the pivoting arms  52  and  54  and/or the floating bodies  10  and  12  in a position in which the salvaging device  1 ′ can be accommodated in a space-saving manner on board the supply ship. The floating bodies  10  and  12  are in this case also arranged parallel to one another. However, relative to the arrangement according to  FIG. 3  the distance between the floating bodies  10  and  12  is reduced by the floating bodies  10  and  12  being pivoted towards one another by means of the pivoting arms  52  and  54  and/or the salvaging device  1 ′ being folded up. The damping means  47  and  48  once again fulfill a protective function here. If the floating bodies  10  and  12  were to strike against one another, the damping means would dampen an impact and thus also protect the maneuvering means  20  and  22  from damage, which could otherwise occur if the floating bodies  10  and  12  were to strike against one another without damping. 
         [0059]    In various embodiments, the pivoting arms  52  and  54  can also be blocked in the space-saving arrangement shown in  FIG. 4 , so that they are only able to be spread apart again after releasing the blocking. In various embodiments, the salvaging device  1 ′ is configured such that the blocking which holds the salvaging device  1 ′ in the arrangement shown in  FIG. 4  is automatically released in response to a corresponding control signal which the radio communication device  30  receives. Furthermore, the salvaging device  1 ′ can be configured such that the carrier device  18  can be pulled out relative to the central framework portion  50  in the vertical direction and connected to a mechanism which, if the salvaging device  1 ′ is suspended on the carrier device  18 , causes the pivoting arms  52  and  54  and/or the floating bodies  10  and  12  to be spread apart mechanically by their own weight, when the blocking is released. In this manner, it is possible to change the position of the salvaging device  1 ′ in a compact arrangement on board the supply ship by means of a crane, and to lift the salvaging device  1 ′ above the water. Before the salvaging device  1 ′ is released into the water, the blocking can be released via radio, whereupon the pivoting arms  52  and  54  are automatically spread apart by the inherent weight of the salvaging device  1 ′ and preferably latched in the spread-apart position, so that the salvaging device  1 ′ is subsequently located in a stable manner in the water. 
         [0060]      FIG. 5  shows a block diagram for illustrating a salvaging method  56  according to various exemplary embodiments of the invention. After starting in a step  58 , the folding out of the salvaging device  1 ′ from the arrangement in  FIG. 4  to that in  FIG. 3  follows in a step  60 . This takes place by means of a pivoting of the pivoting arms  52  and  54 , in a step  62 . Subsequently, in a step  64 , the salvaging device  1  is released into the water and/or is deposited on the water surface  2  by means of a crane via a cable on which the salvaging device  1 ′ is suspended. The hook and/or the carrier device  18  are released from the cable. Subsequently, in a step  66 , the salvaging device  1 ′ is maneuvered away from the supply ship by means of the crane towards the unmanned, in particular autonomous, underwater vehicle  6  which is to be salvaged and/or towards the condensed matter which is to be salvaged. 
         [0061]    The step  66  contains a plurality of steps. In particular, the salvaging device  1 ′ when maneuvered  66  is held on the water surface  2  of the waterway  4  according to a step  68 . This is achieved by a step  70 , according to which the floating bodies  10  and  12  provide a static buoyancy for the salvaging device  1 ′. Furthermore, the maneuvering  66  involves the radio communication device  30  according to a step  72  receiving control signals via radio and forwarding the signals to the control device  28  and according to a step  74 , the control device  28  returning confirmation signals in response to the received control signals and accordingly controlling the salvaging device  1 ′ by suitable activation of the maneuvering means  20  and  22 . 
         [0062]    If the salvaging device  1 ′ has come within the vicinity of the underwater vehicle  6 , the salvaging receptacle  36  changes from the storage position  46  into the collecting position  49  and/or the salvaging receptacle  36  and/or net adopts the collecting position  49  according to a step  76 . This step  76  involves a step  78 , according to which the mountings  38  and  40  for the net  36  on the front end and/or rear end of the salvaging device  1  and/or the edge  36   a  of the net  36  pivots below the water surface  2 , and thus the opening OE is opened and/or cleared. 
         [0063]    The collection of the underwater vehicle  6  and/or the condensed matter to be collected follows according to a step  80 . In this case, in a step  82  a region in front of the salvaging device  1 ′ and/or the underwater vehicle  6  located in front of the salvaging device  1 ′ is illuminated by means of the illuminating device  34  according to a step  82 . By means of the observation device  32 , in a step  84 , image data are produced and supplied to the radio communication device  30 . The image data are transmitted according to a step  86  by means of the radio communication device  30 , so that the data can be received on board the supply ship, and the collection  80  can thus be monitored remotely. 
         [0064]    For the collecting operation, the salvaging device  1 ′ and the underwater vehicle  6  move towards one another head-on, so that the underwater vehicle  6  moves through the opening OE, the floating bodies  10  and  12  move on both sides of the underwater vehicle  6  past portions of the underwater vehicle  6  and the framework  14 ′ is pushed over portions of the underwater vehicle  6 , and the net  36  is pushed below the underwater vehicle  6  and/or the underwater vehicle  6  is pushed through the opening OE. In this case, preferably no contact remains between the salvaging device  1 ′ and the underwater vehicle  6 . A possible side impact is damped by the damping means  47  and  48 . 
         [0065]    For the collecting operation, either the salvaging device  1 ′ or the underwater vehicle  6  is driven or the salvaging device  1 ′ and the underwater vehicle  6  are driven. In this case, the salvaging device  1 ′ is able to move forwards and/or with the front end thereof at the front, and then rearwards and/or with the rear end thereof at the front and/or transport the collected underwater vehicle  6  in the opposing direction or, with a reversed allocation of the front end and rear end, for the collecting operation, move rearwards and/or with the rear end thereof at the front, and then forwards and/or transport the collected underwater vehicle  6  in the opposing direction. The initial movement in the vicinity of the underwater vehicle  6  to be salvaged is able to take place forwards or rearwards. Preferably, however, the direction of travel is only reversed for direct collection, so that the salvaging device  1 ′ has a preferred direction of travel which it adopts before and after the collecting operation. The underwater vehicle  6  is thus transported in the designated direction of travel of the underwater vehicle  6 . A cable which is optionally present and which pulls the underwater vehicle  6  behind, thus emerges from the salvaging device  1 ′ in the region of the mounting rods  42  and  44  when the underwater vehicle  6  is collected, so that during the subsequent transportation the cable is also pulled behind the salvaging device  1 ′. As a result, the cable is held away from the screw propellers  24  and  26 . 
         [0066]    The collecting operation  80  is completed by a step  88  according to which the salvaging device  1 ′ transfers the salvaging receptacle and/or net  36 ′ from the collecting position  49  into the storage position  46 , and/or in which the salvaging receptacle  36  adopts the storage position  46 . The adoption of the storage position  88  is in turn achieved by a pivoting of the mounting  38 ,  40  according to a step  90  from the previously adopted position PU below the water surface  2  to the position PO above the water surface  2  and/or by a pivoting of the edge  36   a  of the net  36  level with a position below the water surface  2  to a position above the water surface  2  for closing the opening OE. 
         [0067]    After collecting the underwater vehicle  6 , a maneuvering of the salvaging device  1 ′ according to a step  66 ′ follows in turn, which is largely similar to the step  66  and in particular also comprises the steps  68 ,  70 ,  72  and  74 . However, the salvaging device  1 ′ now transports the underwater vehicle  6  and/or the collected condensed matter and, thus additionally comprises a step  92 , according to which the underwater vehicle  6  and/or the collected condensed matter is stored in the salvaging receptacle  36 ′ of the salvaging device  1 ′. In this case, according to a step  94 , movements of the underwater vehicle  6  against the boat hull  8 , in particular against the floating bodies  10  and  12 , are damped by means of the damping means  47  and  48 . In this manner, the salvaging device  1 ′ is maneuvered back to the supply ship. 
         [0068]    If the salvaging device  1 ′ has come within the vicinity of the supply ship, the salvaging device  1 ′ is collected by means of a cable, the hook and/or the carrier device  18  being hooked onto the cable. The salvaging device  1 ′ is subsequently lifted on the cable out of the water by means of the crane according to a step  96  together with the underwater vehicle  6  stored in the salvaging device  1 ′. On board the supply ship, according to a step  98 , the salvaged underwater object and/or the salvaged condensed matter  6  is removed from the salvaging device  1 ′, optionally the net  36  being temporarily removed from the boat hull  8  and/or the net  36  being moved into the collecting position  49 . 
         [0069]    By way of example, the salvaging device  1 ′ is lifted on board the supply ship such that the underwater vehicle  6  finally comes to bear against a carrier device provided therefor, the boat hull  8  being subsequently released and/or the net  36 ′ being released from the boat hull  8  and from the mountings  38  and  40  and subsequently the boat hull  8  and/or the salvaging device  1 ′ without the net  36 ′ and without the underwater vehicle  6  being lifted by means of the crane and pivoted to a suitable storage point. The underwater vehicle  6  then bears in a freely accessible manner against the net  36 ′ and thus can be lifted by means of the crane and moved to a designated storage point. 
         [0070]    The salvaging device  1 ′ is folded up again after the removal  98  of the underwater vehicle  6  and before it is stored, according to a step  100 . This is achieved according to a step  102  by pivoting the pivoting arms  52  and/or  54  and/or by pivoting the floating bodies  10  and  12  towards one another. Thus, the method is completed according to a step  104 . 
         [0071]    Overall, the invention permits by simple means the salvaging of an underwater vehicle which is, in particular, autonomous, as well as other condensed matter, in particular with salvaging receptacles correspondingly adapted thereto, even in the event of bad weather with a reduced risk of damage to equipment or of personal injury relative to the prior art. The invention thus provides a valuable contribution to safety when salvaging underwater vehicles, people overboard, dead bodies, refuse or dangerous substances which float on the surface of a waterway. 
         [0072]    All the features set forth in the above description and in the claims are able to be used both individually and in any combination with one another. The disclosure of the invention is thus not limited to the disclosed and/or claimed combination of features. Instead, all combinations of features can be considered as disclosed. That is, the description herein is merely exemplary in nature and, thus, variations that do not depart from the gist of that which is described are intended to be within the scope of the teachings. Such variations are not to be regarded as a departure from the spirit and scope of the teachings.