EP2841335B1

EP2841335B1 - Aquatic rescue vehicle

Info

Publication number: EP2841335B1
Application number: EP13729486.4A
Authority: EP
Inventors: Nicola Amati; Carlo GENTA; Erika VANIGLIA; Pietro BERSEZIO
Original assignee: Politecnico di Torino
Current assignee: Politecnico di Torino
Priority date: 2012-04-24
Filing date: 2013-04-12
Publication date: 2016-06-08
Anticipated expiration: 2033-04-12
Also published as: EP2841335A1; ITTO20120362A1; WO2014006646A1

Description

The present invention refers to an aquatic rescue vehicle, in particular of the type with automatic or semi-automatic operation and without on-board pilot.
Several situations are known, for example due to an unexpected event or an accident like a wreck, adverse weather-marine situations, faintness, etc. in which it is necessary to recover and save people under danger in water: it is also known that very often, unfortunately, the same rescue activity exposes the rescue people, professional or occasional rescuers, to dangerous situations, since it usually happens, in fact, that also these latter ones often risk, and sometimes lose, their lives, fighting under very difficult conditions to save other people.
The art has therefore proposed several types of means and vehicles which are able to facilitate rescue and recovery activities, such as those disclosed, for example, in US-A-5597335 , US-A-5769676 , FI-A-0050162 , CN-A-101549746 , FR-A-2716433 , JP-A-6171584 , CN-U-201721610 , CN-A-101537876 , WO-A-2009109087 , CN-A-201154767 , CN-A-200942869 , and DE-A-102010003433 . In particular:

US-A-5597335 discloses autonomous surface means that however allow recovering a person only in case this latter one is conscious and can lift himself on board the means;
US-A-5769676 discloses a ground-water vehicle which, also in this case, allows recovering a person only in case this latter one is conscious and can lift himself on board the means;
FI-A-0050162 discloses an alternate system to usual life boats, to guard wrecked people from waves, in which people must enter by immersing themselves under the free water level;
CN-A-101549746 discloses an inflatable ring;
FR-A-2716433 discloses a ring-type device, adapted to be connected to an helicopter, which, when tightened around the person to be recovered, is able to lift him to save him: in order for the system to work, it is necessary that there is an operator who tightens the device around the person to be recovered;
JP-A-6171584 discloses a rocket-type system, which can be parachuted on the accident location through a plane and, once having reached the water surface, a rubber boat is inflated: also in this case only a conscious person can be saved;
CN-U-201721610 discloses a remotely controlled system that provides for a tubular structure with upper "bed", connected to a frame to which propellers are connected for a vertical motion and for a forward motion: in such system the tubular structure does not allow having an enough thrust, also taking into account the components mass, for balancing the no-load robot weight and the weight of the person to be saved;
CN-A-101537876 discloses a small boat with cable-type remote control. Since the system is not equipped with vertical motion, nor with other grasping systems, the person to be recovered must be conscious to lift himself on board.
WO-A-2009109087 discloses a recovery vehicle composed of two longitudinal air chambers connected to a horizontal plane whose purpose is lifting the victim, and of a cover, also inflatable, that operates as "roof" of the vehicle itself. Such vehicle however has no propulsion on its own, since it is connected to another vehicle which drags it till the rescue location;

CN-A-201154767 discloses a search and rescue system which, due to filling and emptying a central immersion chamber, can go below a victim and lift him and can guarantee enough trust due to its two side floats: also such system is lacking its own propulsion system;
CN-A-200942869 discloses a mono-hull vehicle equipped with motors in which, however, the person to be recovered must be conscious to be saved; and
DE-A-102010003433 discloses a multi-hull rescue vehicle according to the preamble of Claim 1, which however has at least two subsystems: a floating multi-hull subsystem and a chute-type subsystems which, when actuated, can be partially immersed to recover a person: this vehicle is not able to be completely immersed with a stable attitude.

Therefore, object of the present invention us solving the above prior art problems, by providing an aquatic rescue vehicle, indifferently for recoveries from braches, in open sea, in rivers, lakes and after floods, which can, autonomously and without on-board pilot, be taken in the recovery area of the person to be saved and take care of loading such person even if he is unconscious or, anyway, incapable of offering an actual cooperation.
Moreover, an object of the present invention is providing an aquatic rescue vehicle that can advance also under water during the steps of searching and reaching the person to be recovered, allowing, with respect to the dislocating advancement, an increase of the advancement speed and a reduction of resistance to motion, above all in case of adverse weather-marine surface conditions.
Another object of the present invention is providing an aquatic rescue vehicle, which is able to emerge the person to be recovered from a depth upwards, in a horizontal position, allowing to avoid possible hearth failures.
Moreover, an object of the present invention is providing an aquatic rescue vehicle which is particularly lightweight and with small inertial moments, which is therefore easily controllable.
The above and other objects and advantages of the invention, which will appear from the following description, are obtained with an aquatic rescue vehicle as claimed in claim 1. Preferred embodiments and non-trivial variations of the present invention are the subject matter of the dependent claims.
It is intended that all enclosed claims are an integral part of the present description.
It will be immediately obvious that numerous variations and modifications (for example related to shape, sizes, arrangements and parts with equivalent functionality) can be made to what is described, without departing from the scope of the invention as appears from the enclosed claims.
The present invention will be better described by some preferred embodiments thereof, provided as a non-limiting example, with reference to the enclosed drawings, in which:

Figure 1 shows a perspective view of a first preferred embodiment of the vehicle according to the present invention;
Figure 2 shows a perspective view of a second preferred embodiment of the vehicle according to the present invention;
Figure 3a shows a perspective view of a third preferred embodiment of the vehicle according to the present invention in a first operating position thereof;
Figure 3b shows a perspective view of the vehicle of Figure 3a in a second operating position thereof;
Figure 4a shows a perspective view of a fourth preferred embodiment of the vehicle according to the present invention in a first operating position thereof;
Figure 4b shows a perspective view of the vehicle of Figure 4a in a second operating position thereof;
Figure 5 shows a perspective view of a fifth preferred embodiment of the vehicle according to the present invention; and
Figure 6 shows a perspective view of a sixth preferred embodiment of the vehicle according to the present invention.

With reference to the Figures, it is possible to note that the aquatic rescue vehicle 1 of at least one person immersed into water according to the present invention, in particular of the type with automatic or semi-automatic operation and without on-board pilot, is composed of at least one multi-hull structure 2 comprising at least one first and one second hull, respectively 3a and 3b, such hulls 3a, 3b being preferably arranged longitudinally with respect to an advancement direction of such vehicle 1 under a catamaran configuration, such as starboard hull 3a and port hull 3b, at least one supporting structure 5 of such person being arranged between such hulls 3a, 3b, such vehicle 1 further comprising forward propulsive means 7 and depth changing means 9.
The operation of the aquatic rescue vehicle 1 according to the present invention as described above is therefore as follows:

the vehicle 1 is autonomously taken next to the person to be recovered, independently in dislocating navigation, with the only help of the propulsive means, or in submarine navigation, with the help, in cooperation, of the propulsive means 7 and the depth changing means 9;
the vehicle 1 is taken, with the help, in cooperation, of the propulsive means 7 and the depth changing means 9, under the person to be recovered, placing the supporting structure 5 substantially vertically next to the person;
with the help of the depth changing means 9, the vehicle 1 re-emerges lifting the person and supporting him on the supporting structure 5: the same depth changing means 9 regulate the depth of the hulls 3a, 3b so that the person is lifted up to the height in which he is completely out of water. At that time, the vehicle 1 can wait for the intervention of rescue boats or ships, or helicopters, after the recovery position has been signalled, or can take the recovered person to the nearest safe location (shore, boat, ship, etc.).

Preferably, the propulsive means 7 can comprise a different propulsion system for every hull 3a, 3b, independently controlled one from the other, in order to be able to control the vehicle 1 yaw by intervening on the propulsive force of a single motor.
Obviously, the types of propulsive means 7 can be several: in particular, as it is possible to note in the Figures, the propulsive means 7 can comprise two propeller propulsion systems 11a, 11b, each one of which is placed in a stern part of its respective hull 3a, 3b. Obviously, each one of the propellers is rotated by at least one motor, for example with electric supply, by interposing a suitable kinematic transmission chain. In a preferred alternative, the propulsive means 7 can comprise water jet propulsion systems.
Alternatively, if a single propulsion system has to be used, having a single propeller or a single water jet centrally placed with respect to the two hulls 3a, 3b, the vehicle 1 according to the present invention will further comprise directional means comprising, for example, a rudder with vertical axis or orientation-changing means for the propulsion system, and in particular for the propeller or the water jet.
As said, the vehicle according to the present invention can be moved both in dislocation (being equipped with ad hydrostatic thrust that allows it to remain surfacing) and under water due to its depth changing means 9.
Also in this case, the types of depth changing means 9 can be very different without however departing from the scope of the present invention.
In particular, as it is possible to note in Figure 1, the depth changing means 9 can comprise at least one immersion chamber 13 arranged inside each hull 3a, 3b and respective fixtures, comprising for example reversible electric pumps, aimed to fill and empty such chamber 13 to perform immersion, emersion and adjust the immersion depth of the vehicle 1: each hull 3a, 3b is further equipped with appendixes 15 arranged at the ends of the immersion chambers 13 inside which the on-board components are arranged.
Alternatively, as it is possible to note in Figure 2, the depth changing means 9 can comprise at least one immersion chamber 19 arranged along each hull 3a, 3b, each one of such chambers 19 being arranged only next to a substantially central part of the respective hull 3a, 3b, obtaining great advantages in terms of reduction of the inertial moment of the vehicle 1. Also in this case, the appendixes 15 for storing the components are arranged at the ends of each hull 3a, 3b.
Alternatively, as it is possible to note in Figures 3a and 3b, the depth changing means 9 can comprise portions 21 with variable volume arranged along each one of such hulls 3a, 3b: the vehicle 1 attitude is then adjusted by changing the section of the portions 21 with variable volume. In particular, Figure 3a shows the vehicle 1 according to the present invention in which the portions 21 with variable volume have a reduced volume to allow immerging the vehicle 1, while Figure 3b shows the vehicle 1 according to the present invention in which the portions 21 with variable volume have an increased volume to allow emerging the vehicle 1. Also in this case, the appendixes 15 for storing the components are arranged at the ends of each hull 3a, 3b.
Alternatively, as it is possible to note in Figures 4a and 4b, the depth changing means 9 can comprise inflatable/deflatable chambers 23 whose inflation for emerging (Figure 4b) and whose deflation for immerging (Figure 4a) allow changing the attitude of the vehicle 1 according to the present invention: in particular, such chambers 23 are arranged along each respective hull 3a, 3b and are inflated with a fluid, for example compressed air, contained inside at least one tank arranged inside at least one of such hulls 3a, 3b. Below the hulls 3a, 3b, two appendixes 25 allow storing the on-board components. Each one of such appendixes 25 is further equipped with at least one snorkel 27 to exhaust the vacuum generator, stored inside such appendixes 25.
Alternatively, as it is possible to note in Figure 5, the depth changing means 9 can comprise at least one immersion chamber 29 arranged inside each hull 3a, 3b and at least vertical propulsion means 31 composed, for example, of at least one propeller 33 with vertical rotation axis: the vehicle 1 attitude is then regulated by emptying the immersion chambers 29, and by actuating the vertical propellers 33. Inside the immersion chambers, there are as many appendixes 15 for storing the components. The propellers 33 are preferably protected by a cage, while the immersion chambers 29 are connected two by two by a tubular structure 35.
Alternatively, as it is possible to note in Figure 6, the depth changing means 9 can comprise at least one rear diving rudder 37 and at least one front diving rudder so that the attitude of the vehicle 1 according to the present invention is regulated by slanting such front and rear rudders. The hulls 3a, 3b allow at least storing the battery packs 39, while the four appendixes 41 below them contain the motors for moving the rudders and advancing the vehicle 1.
The vehicle 1 according to the present invention further comprises driving means cooperating with the forward propulsive means 7 and the depth changing means 9 to control the operation and navigation of the vehicle 1, as well as the movements performed thereby to recover the person in water.
In particular, in case of automatic operation, the driving means comprise at least geo-positioning means, such as for example an GPS emitter/receiver system, to be able to be interfaced with the standard global system for managing emergency and danger signals, and allow the vehicle 1 to be traceable by a remote operator or by the driving means themselves. The vehicle 1 according to the present invention is therefore able to operate also when the person in difficulty to be recovered is capable of sending a GPS signal: this obviously does not imply that the vehicle 1 cannot be used for searching lost people, not equipped with any traceability device. In order to satisfy also this need, the driving means can comprise and cooperate with various sensors present on board, as well as at least one video-camera that operates with the help of lights, above and below the water surface.
Instead, in case of semi-automatic operation, the driving means are controlled by a tele-operation system substantially known in the art: in particular, such tele-operation system is a mobile tele-handling device, used for high risk operations, composed of a receiving station housed inside a floating structure connected through a rigid cable to the vehicle 1. The command signal cables run parallel to the rigid cable, and are the reference for the drivers of the various actuators.
Obviously, the applications of the vehicle 1 according to the present invention are numerous and, for example, it can be used as automatic or semi-automatic rescue means as equipment in boats, for surveying coast areas and lakes, as help of intervention forces in case of natural calamities.

Claims

Aquatic rescue vehicle (1) of at least one person immersed into water, in particular of a type with automatic or semi-automatic operation and without on-board pilot, said vehicle (1) being composed of at least one multi-hull structure (2) comprising at least one first and one second hull (3a, 3b), at least one supporting structure (5) of said person being arranged between said hulls (3a, 3b), characterised in that the aquatic rescue vehicle (1) comprises forward propulsive means (7) and depth changing means (9) which are adapted to allow the vehicle (1) to advance also under water when searching, reaching and recovering the person to be recovered, said forward propulsive means (7) and said depth changing means (9) being adapted to take said supporting structure (5) in immersion below said person and re-emerge said vehicle (1) lifting said person and supporting him onto said supporting structure (5), said depth changing means (9) being adapted to regulate a depth of said hulls (3a, 3b) to keep said person completely out of water.
Vehicle (1) according to claim 1, characterised in that said propulsive means (7) comprise a different propulsion system for each hull (3a, 3b), each of said propulsion systems being controlled independently by a respective different motor.
Vehicle (1) according to claim 1, characterised in that said propulsive means (7) comprise two propeller propulsion systems (11a, 11b), each one of which is placed in a stern part of a respective hull (3a, 3b).
Vehicle (1) according to claim 1, characterised in that said propulsive means (7) comprise two propulsion systems with water jet.
Vehicle (1) according to claim 1, characterised in that said propulsive means (7) comprise a single propulsion system and in that it comprises directional means.
Vehicle (1) according to claim 1, characterised in that said depth changing means (9) comprise at least one immersion chamber (13) arranged inside each hull (3a, 3b).
Vehicle (1) according to claim 1, characterised in that said depth changing means (9) comprise at least one immersion chamber (19) arranged along each hull (3a, 3b), each of said chambers (19) being arranged only next to a substantially central part of said respective hull (3a, 3b).
Vehicle (1) according to claim 1, characterised in that said depth changing means (9) comprise portions (21) with variable volume arranged along each of said hulls (3a, 3b).
Vehicle (1) according to claim 1, characterised in that said depth changing means (9) comprise chambers inflatable/deflatable chambers (23) arranged along each respective hull (3a, 3b) and adapted to be inflated with a fluid contained inside at least one tank arranged inside at least one of said hulls (3a, 3b).
Vehicle (1) according to claim 1, characterised in that said depth changing means (9) comprise at least one immersion chamber (29) arranged inside each hull (3a, 3b) and at least some vertical propulsion means (31).
Vehicle (1) according to claim 1, characterised in that said depth changing means (9) comprise at least one rear diving rudder (37) and at least one front diving rudder.
Vehicle (1) according to claim 1, characterised in that it comprises driving means cooperating with said forward propulsive means (7) and said depth changing means (9).
Vehicle (1) according to claim 12, characterised in that, in case of automatic operation, said driving means comprise at least geo-positioning means interfaced with a standard global system for managing emergency and danger signals.
Vehicle (1) according to claim 12, characterised in that, in case of semi-automatic operation, said driving means are controlled by a tele-operation system.