EP0347288A1 - Self-propelled submersible vehicle for the detection of under-water objects - Google Patents

Self-propelled submersible vehicle for the detection of under-water objects Download PDF

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Publication number
EP0347288A1
EP0347288A1 EP89401586A EP89401586A EP0347288A1 EP 0347288 A1 EP0347288 A1 EP 0347288A1 EP 89401586 A EP89401586 A EP 89401586A EP 89401586 A EP89401586 A EP 89401586A EP 0347288 A1 EP0347288 A1 EP 0347288A1
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EP
European Patent Office
Prior art keywords
vehicle
sonar
vehicle according
cable
antenna
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP89401586A
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German (de)
French (fr)
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EP0347288B1 (en
Inventor
Michel Guilloteau
Martin Petry
Armand Marie Raguenes
René Vincent
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ETAT-FRANCAIS REPRESENTE PAR LE DELEGUE GENERAL PO
Bertin Technologies SAS
Original Assignee
Direction General pour lArmement DGA
Bertin et Cie SA
Etat Francais
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Publication of EP0347288A1 publication Critical patent/EP0347288A1/en
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Publication of EP0347288B1 publication Critical patent/EP0347288B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control

Definitions

  • the invention relates to a self-propelled underwater vehicle for the detection of submerged objects, such as in particular underwater mines.
  • submerged sonar For the search and detection of underwater mines, submerged sonar is often used towed by a cable behind a surface building. To be effective, the sonar must be far from the surface vessel and have a very large range, in order to be able to explore the marine space far enough in front of the surface vessel. Such sonars are very sophisticated and very expensive.
  • the object of the invention is to provide a satisfactory solution to the problem of searching for and detecting submerged objects such as underwater mines, by means of a self-propelled vehicle comprising detection means such as sonar and means horizontal and vertical propulsion systems powered by a cable that connects the vehicle to a surface building and which also transmits the orders for maneuvering the vehicle and controlling the detection means, as well as the information exchanged with these means.
  • detection means such as sonar and means horizontal and vertical propulsion systems powered by a cable that connects the vehicle to a surface building and which also transmits the orders for maneuvering the vehicle and controlling the detection means, as well as the information exchanged with these means.
  • this vehicle is characterized in that the cable is hung on the vehicle at a fixed point located on the thrust axis of the horizontal propulsion means, in the median longitudinal plane of lateral symmetry of the vehicle, and in the vicinity from the center of gravity or substantially vertically thereof, and in that the vehicle comprises a recess at its rear upper part for the passage of the cable and its clearance around its point of attachment upwards and on each side of the vehicle, so as to preserve its trim and maneuverability, in particular when it moves in front of or towards the front of the surface building, by towing its cable.
  • connection cable to the surface vessel has little or no influence on the stability and the maneuverability of the underwater vehicle, while at the same time ensuring that it is constantly supplied with power. in energy, giving it unlimited autonomy.
  • the sonar antenna is located at the front end of the vehicle, in a recess in the lower part of the hull.
  • the antenna is rotatably mounted more or less 180 ° around a vertical axis and pivoting around a transverse axis on the vehicle, so as to be able to scan the marine space in front of the vehicle, on the sides, up and down of it.
  • the abovementioned recess of the lower front part of the hull delimits an area of dead water around the sonar antenna, when the vehicle is moving forward, so that the movements of the antenna do not influence vehicle behavior.
  • the vehicle can also constitute a hull sonar.
  • the lower part of the vehicle is offset towards the rear relative to its upper part, on the one hand to form the front recess in which the sonar antenna is housed, on the other hand leaves to spare the passage of the connecting cable to its point of attachment in the vicinity of the center of gravity of the vehicle, and to allow free movement of this cable around its point of attachment.
  • This particular configuration allows the attachment of the connecting cable to the vehicle in the immediate vicinity of the vehicle center of gravity.
  • Figures 1 to 4 represents schematically feel a self-propelled underwater vehicle according to the invention, for the detection of submerged objects, in particular underwater mines.
  • this vehicle 10 comprises an upper part 12 consisting essentially of two longitudinal floats 14 connected to each other at their front end, but separated from each other at their rear end, and a lower part 16 which is shifted backwards relative to the upper part 12 of the vehicle.
  • This offset between the upper 12 and lower 16 parts of the vehicle provides, at the front, a recess 18 in which are housed the antenna 20 of a sonar and its mechanisms 22 for controlling orientation around a vertical axis 24 and of a horizontal axis 26, and of stabilization in position.
  • the offset between the upper part 12 and the lower part 16 of the vehicle forms another recess allowing the passage of a cable 28 for connection to a surface building and the attachment of this cable at a point 30 located in the immediate vicinity of the vehicle's center of gravity G.
  • the vehicle At the junction between its upper 12 and lower 16 parts, the vehicle comprises two side fairings 32 which each carry a horizontal thruster 34 with a faired propeller.
  • a vertical thruster 36 is also housed in the front part of each lateral fairing 32.
  • the point 30 for attaching the cable 28 to the vehicle is located on the thrust axis of the horizontal thrusters 34 and in the median longitudinal plane of lateral symmetry of the vehicle, as well as on the axis of the hydrodynamic result in frontal attack.
  • the plane passing through the axis of the horizontal thrusters 34 and containing the point 30 for hooking the cable 28, can be situated substantially at the level of the junction plane between the upper 12 and lower 16 parts of the vehicle. , or above this junction plane.
  • the point 30 for hooking the cables 28 may be slightly behind the center of gravity G of the vehicle so that the latter, when is put in the water, tends to place the nose facing the current.
  • point 30 may be located substantially vertical to the center of gravity G of the vehicle.
  • the travel of the connecting cable 28 around the attachment point 30 is ensured, being at least 90 ° in the median vertical longitudinal plane of symmetry, from the longitudinal axis of the vehicle , and at least 90 ° in a horizontal plane, on either side of this median longitudinal axis.
  • the rear ends of the floats 14 are shaped like a cone and are separated by a vertical space, so as to facilitate this movement of the cable 28.
  • the lower part 16 of the vehicle essentially contains, in containers 38, control circuits for horizontal and vertical thrusters 36, and sonar control circuits and for processing information exchanged with the surface building.
  • a releasable balancing ballast 40 is also provided in the lower part of the vehicle, behind the sonar antenna, and fins 42 and fixed fins 44 are mounted at the rear of the lower part 16.
  • Acoustic locators 46 are mounted at the front and at the rear of the upper part 12 of the vehicle.
  • Various navigation equipment such as a current meter can also be provided.
  • the cable 28 transmits to the vehicle, from a surface building, the energy necessary for its operation (powering of the thrusters, of the sonar, of the mechanisms of displacement and stabilization of antenna, of various electronic circuits) and the control signals of the pro pulsers, sonar, etc., and is also used for transferring information between the circuits associated with the sonar on board the vehicle 10 and the processing and display circuits provided on board the surface vessel.
  • This cable can have a length of several hundred meters and a total weight of the order of 2 tonnes for example.
  • the power of the horizontal thrusters 34 is determined so as to be able, on the one hand, to tow the connecting cable 28 and, on the other hand, to ensure a speed of movement of several nodes of the vehicle.
  • the arrangement of the sonar antenna 20 in the recess 18 at the lower front end of the vehicle 10 makes it possible to clear the field of vision of this antenna forwards and downwards and to place it in a water area dead when the vehicle is moving forward, so there is no need to protect the antenna with a hood and it is possible to use a swiveling directional antenna without its movements influencing the movement of the vehicle.
  • FIG. 5 schematically represents the position of the vehicle in this use.
  • the vehicle has, in the upper part, a shape and a resistance allowing it to be placed and immobilized in hull sonar position under the surface building.
  • the vehicle 10 can also be brought back on board or put into the sea by conventional handling means which equip the ship.
  • the connecting cable 28 is released or hung on the vehicle by a plunger.
  • a sliding horizontal telescopic ramp 48 can be provided in the lower part of the vehicle, to protect manage its sonar and increase its base when it is for example deposited on a quay or a platform.
  • the underwater vehicle according to the invention may have a length of the order of 3m to 3.50m, a width of the order of 2m, a height of the order of 1.70m, a weight of around 2t, and that it is capable of operating several hundred meters in front of a surface building to a depth of around 300m.

Abstract

The device described comprises an upper portion (12) and a lower portion (16) longitudinally off-set in relation to one another, in order to provide, at the front of the vehicle, a free space for locating a sonar aerial (20), and, at the rear, a passage and clearance for a cable (28) connected to a surface craft.

Description

Domaine de l'inventionField of the invention

L'invention concerne un véhicule sous-marin autopropulsé pour la détection d'objets immergés, tels notamment que des mines sous-marines.The invention relates to a self-propelled underwater vehicle for the detection of submerged objects, such as in particular underwater mines.

Technique antérieurePrior art

Pour la recherche et la détection des mines sous-marines, on utilise souvent un sonar immergé remorqué au moyen d'un câble derrière un bâtiment de surface. Pour être ef­ficace, le sonar doit être éloigné du bâtiment de surface et avoir une portée très importante, afin de pouvoir ex­plorer l'espace marin suffisamment loin devant le bâti­ment de surface. De tels sonars sont très sophistiqués et très coûteux.For the search and detection of underwater mines, submerged sonar is often used towed by a cable behind a surface building. To be effective, the sonar must be far from the surface vessel and have a very large range, in order to be able to explore the marine space far enough in front of the surface vessel. Such sonars are very sophisticated and very expensive.

Il existe également de petits véhicules sous-marins auto­nomes, équipés de caméras vidéo et/ou d'un sonar pour la recherche et la détection des objets immergés tels que des mines sous-marines, qui peuvent être mis à l'eau de­puis une plate-forme ou un bâtiment de surface, et qui, selon les cas, soit sont indépendants de la plate-forme ou du bâtiment de surface mais ont une autonomie très li­mitée, soit sont reliés à la plate-forme ou au bâtiment de surface par un câble de liaison les alimentant en énergie et doivent alors remorquer constamment ce câble au cours de leurs déplacements, au détriment de leurs ca­pacités d'évolution.There are also small autonomous underwater vehicles, equipped with video cameras and / or sonar for the search and detection of submerged objects such as underwater mines, which can be launched from a flat -form or a surface building, and which, depending on the case, are either independent of the platform or the surface building but have a very limited autonomy, or are connected to the platform or the surface building by a connecting cable supplying them with energy and must therefore constantly tow this cable during their movements, to the detriment of their capacity for evolution.

Exposé de l'inventionStatement of the invention

L'invention a pour but d'apporter une solution satisfai­sante au problème de la recherche et de la détection des objets immergés tels que des mines sous-marines, grâce à un véhicule autopropulsé comprenant des moyens de détec­tion tels qu'un sonar et des moyens de propulsion horizontale et verticale alimentés en énergie par un câble qui relie le véhicule à un bâtiment de surface et qui transmet également les ordres de manoeuvre du véhi­cule et de commande des moyens de détection, ainsi que les informations échangées avec ces moyens.The object of the invention is to provide a satisfactory solution to the problem of searching for and detecting submerged objects such as underwater mines, by means of a self-propelled vehicle comprising detection means such as sonar and means horizontal and vertical propulsion systems powered by a cable that connects the vehicle to a surface building and which also transmits the orders for maneuvering the vehicle and controlling the detection means, as well as the information exchanged with these means.

Selon l'invention, ce véhicule est caractérisé en ce que le câble est accroché sur le véhicule en un point fixe situé sur l'axe de poussée des moyens de propulsion ho­rizontale, dans le plan longitudinal médian de symétrie latérale du véhicule, et au voisinage du centre de gra­vité ou sensiblement à la verticale de celui-ci, et en ce que le véhicule comprend un décrochement à sa partie su­périeure arrière pour le passage du câble et son débatte­ment autour de son point d'accrochage vers le haut et de chaque côté du véhicule, de façon à préserver l'assiette et la manoeuvrabilité de ce dernier notamment lorsqu'il se déplace devant ou vers l'avant du bâtiment de surface, en remorquant son câble.According to the invention, this vehicle is characterized in that the cable is hung on the vehicle at a fixed point located on the thrust axis of the horizontal propulsion means, in the median longitudinal plane of lateral symmetry of the vehicle, and in the vicinity from the center of gravity or substantially vertically thereof, and in that the vehicle comprises a recess at its rear upper part for the passage of the cable and its clearance around its point of attachment upwards and on each side of the vehicle, so as to preserve its trim and maneuverability, in particular when it moves in front of or towards the front of the surface building, by towing its cable.

Grâce à ces caractéristiques de l'invention, la présence du câble de liaison au bâtiment de surface n'influence pas, ou très peu, la stabilité et les capacités de ma­noeuvre du véhicule sous-marin, tout en permettant de lui assurer constamment une alimentation en énergie, lui conférant une autonomie illimitée.Thanks to these characteristics of the invention, the presence of the connection cable to the surface vessel has little or no influence on the stability and the maneuverability of the underwater vehicle, while at the same time ensuring that it is constantly supplied with power. in energy, giving it unlimited autonomy.

Selon une autre caractéristique de l'invention, l'antenne du sonar est située à l'extrémité avant du véhicule, dans un décrochement de la partie inférieure de la coque.According to another characteristic of the invention, the sonar antenna is located at the front end of the vehicle, in a recess in the lower part of the hull.

Avantageusement, l'antenne est montée rotative sur plus ou moins 180° autour d'un axe vertical et pivotante au­tour d'un axe transversal sur le véhicule, de façon à pouvoir balayer l'espace marin en avant du véhicule, sur les côtés, vers le haut et vers le bas de celui-ci.Advantageously, the antenna is rotatably mounted more or less 180 ° around a vertical axis and pivoting around a transverse axis on the vehicle, so as to be able to scan the marine space in front of the vehicle, on the sides, up and down of it.

Le décrochement précité de la partie inférieure avant de la coque délimite une zone d'eau morte autour de l'antenne du sonar, lorsque le véhicule se déplace vers l'avant, de telle sorte que les mouvements de l'antenne n'influencent pas le comportement du véhicule.The abovementioned recess of the lower front part of the hull delimits an area of dead water around the sonar antenna, when the vehicle is moving forward, so that the movements of the antenna do not influence vehicle behavior.

Selon une autre caractéristique importante de l'invention, le véhicule peut également constituer un so­nar de coque.According to another important characteristic of the invention, the vehicle can also constitute a hull sonar.

Il est ainsi utilisable aussi bien en évolution à quelques centaines de mètres en avant du bâtiment de sur­face, que lorsqu'il est à poste sous la coque de ce bâti­ment.It can thus be used both in evolution a few hundred meters in front of the surface building, and when it is stationed under the hull of this building.

En outre, lorsque ce véhicule est ramené vers le bâtiment de surface à la fin d'une période de service, il n'est plus obligatoire de le hisser hors de l'eau sur le bâti­ment, et on peut le placer en position sonar de coque. Selon encore une autre caractéristique de l'invention, la partie inférieure du véhicule est décalée vers l'arrière par rapport à sa partie supérieure, d'une part pour for­mer le décrochement avant dans lequel est logée l'antenne du sonar, d'autre part pour ménager le passage du câble de liaison jusqu'à son point d'accrochage au voisinage du centre de gravité du véhicule, et pour permettre le libre débattement de ce câble autour de son point d'accrochage. Cette configuration particulière permet l'accrochage du câble de liaison sur le véhicule au voisinage immédiat du centre de gravité du véhicule.In addition, when this vehicle is brought back to the surface vessel at the end of a service period, it is no longer mandatory to hoist it out of the water on the vessel, and it can be placed in the sonar position of shell. According to yet another characteristic of the invention, the lower part of the vehicle is offset towards the rear relative to its upper part, on the one hand to form the front recess in which the sonar antenna is housed, on the other hand leaves to spare the passage of the connecting cable to its point of attachment in the vicinity of the center of gravity of the vehicle, and to allow free movement of this cable around its point of attachment. This particular configuration allows the attachment of the connecting cable to the vehicle in the immediate vicinity of the vehicle center of gravity.

Brève description des dessinsBrief description of the drawings

L'invention sera mieux comprise et d'autres avantages, détails et caractéristiques de celle-ci apparaîtront au cours de la description explicative qui suit, faite à titre d'exemple en référence aux dessins annexés dans lesquels :

  • - la figure 1 est une vue schématique de face du véhicule selon l'invention ;
  • - la figure 2 est une vue de côté de ce véhicule ;
  • - la figure 3 est une vue de dessus du véhicule ;
  • - la figure 4 est une vue en perspective du véhicule ;
  • - la figure 5 représente schématiquement un bâtiment de surface et le véhicule en position sonar de coque.
The invention will be better understood and other advantages, details and characteristics thereof will appear during the following explanatory description, given by way of example with reference to the appended drawings in which:
  • - Figure 1 is a schematic front view of the vehicle according to the invention;
  • - Figure 2 is a side view of this vehicle;
  • - Figure 3 is a top view of the vehicle;
  • - Figure 4 is a perspective view of the vehicle;
  • - Figure 5 shows schematically a surface building and the vehicle in hull sonar position.

Meilleure réalisation de l'inventionBest realization of the invention

On fera d'abord référence aux figures 1 à 4, qui repré­ sentent schématiquement un véhicule sous-marin autopro­pulsé selon l'invention, pour la détection d'objets im­mergés, en particulier des mines sous-marines.We will first refer to Figures 1 to 4, which represents schematically feel a self-propelled underwater vehicle according to the invention, for the detection of submerged objects, in particular underwater mines.

Dans la forme de réalisation représentée, ce véhicule 10 comprend une partie supérieure 12 constituée essentielle­ment de deux flotteurs longitudinaux 14 raccordés entre eux à leur extrémité avant, mais séparés l'un de l'autre à leur extrémité arrière, et une partie inférieure 16 qui est décalée vers l'arrière par rapport à la partie supé­rieure 12 du véhicule. Ce décalage entre les parties su­périeure 12 et inférieure 16 du véhicule ménage, à l'avant, un décrochement 18 dans lequel sont logés l'antenne 20 d'un sonar et ses mécanismes 22 de commande d'orientation autour d'un axe vertical 24 et d'un axe ho­rizontal 26, et de stabilisation en position.In the embodiment shown, this vehicle 10 comprises an upper part 12 consisting essentially of two longitudinal floats 14 connected to each other at their front end, but separated from each other at their rear end, and a lower part 16 which is shifted backwards relative to the upper part 12 of the vehicle. This offset between the upper 12 and lower 16 parts of the vehicle provides, at the front, a recess 18 in which are housed the antenna 20 of a sonar and its mechanisms 22 for controlling orientation around a vertical axis 24 and of a horizontal axis 26, and of stabilization in position.

A l'arrière, le décalage entre la partie supérieure 12 et la partie inférieure 16 du véhicule forme un autre décro­chement permettant le passage d'un câble 28 de liaison à un bâtiment de surface et l'accrochage de ce câble en un point 30 situé au voisinage immédiat du centre de gravité G du véhicule.At the rear, the offset between the upper part 12 and the lower part 16 of the vehicle forms another recess allowing the passage of a cable 28 for connection to a surface building and the attachment of this cable at a point 30 located in the immediate vicinity of the vehicle's center of gravity G.

A la jonction entre ses parties supérieure 12 et infé­rieure 16, le véhicule comprend deux carénages latéraux 32 qui portent chacun un propulseur horizontal 34 à hé­lice carénée. Un propulseur vertical 36 est en outre logé dans la partie avant de chaque carénage latéral 32.At the junction between its upper 12 and lower 16 parts, the vehicle comprises two side fairings 32 which each carry a horizontal thruster 34 with a faired propeller. A vertical thruster 36 is also housed in the front part of each lateral fairing 32.

Le point 30 d'accrochage du câble 28 sur le véhicule se trouve sur l'axe de poussée des propulseurs horizontaux 34 et dans le plan longitudinal médian de symétrie laté­rale du véhicule, ainsi que sur l'axe de la résultante hydrodynamique en attaque frontale.The point 30 for attaching the cable 28 to the vehicle is located on the thrust axis of the horizontal thrusters 34 and in the median longitudinal plane of lateral symmetry of the vehicle, as well as on the axis of the hydrodynamic result in frontal attack.

Selon les formes de réalisation envisageables, le plan passant par l'axe des propulseurs horizontaux 34 et contenant le point 30 d'accrochage du câble 28, peut se situer sensiblement au niveau du plan de jonction entre les parties supérieure 12 et inférieure 16 du véhicule, ou bien au-dessus de ce plan de jonction. Dans le premier cas, qui correspond au mode de réalisation des figures 1 à 4, le point 30 d'accrochage des câbles 28 peut se trou­ver légèrement en arrière du centre de gravité G du véhi­cule de telle sorte que celui-ci, lorsqu'il est mis à l'eau, ait tendance à se placer le nez face au courant.According to the possible embodiments, the plane passing through the axis of the horizontal thrusters 34 and containing the point 30 for hooking the cable 28, can be situated substantially at the level of the junction plane between the upper 12 and lower 16 parts of the vehicle. , or above this junction plane. In the first case, which corresponds to the embodiment of FIGS. 1 to 4, the point 30 for hooking the cables 28 may be slightly behind the center of gravity G of the vehicle so that the latter, when is put in the water, tends to place the nose facing the current.

Dans le second cas, le point 30 peut être situé sensible­ment à la verticale du centre de gravité G du véhicule.In the second case, point 30 may be located substantially vertical to the center of gravity G of the vehicle.

Dans tous les cas, le débattement du câble de liaison 28 autour du point d'accrochage 30 est assuré, en étant d'au moins 90° dans le plan longitudinal vertical médian de symétrie du véhicule, à partir de l'axe longitudinal du véhicule, et d'au moins 90° dans un plan horizontal, de part et d'autre de cet axe longitudinal médian.In all cases, the travel of the connecting cable 28 around the attachment point 30 is ensured, being at least 90 ° in the median vertical longitudinal plane of symmetry, from the longitudinal axis of the vehicle , and at least 90 ° in a horizontal plane, on either side of this median longitudinal axis.

Les extrémités arrière des flotteurs 14 sont conformées en cône et sont séparées par un espace vertical, de façon à faciliter ce débattement du câble 28.The rear ends of the floats 14 are shaped like a cone and are separated by a vertical space, so as to facilitate this movement of the cable 28.

La partie inférieure 16 du véhicule contient essentielle­ment, dans des conteneurs 38, des circuits de commande deds propulseurs horizontaux 34 et verticaux 36, et des circuits de commande du sonar et de traitement des infor­mations échangées avec le bâtiment de surface. Un lest d'équilibrage largable 40 est également prévu en partie inférieure du véhicule, en arrière de l'antenne du sonar, et des dérives 42 et des ailerons fixes 44 sont montés à l'arrière de la partie inférieure 16.The lower part 16 of the vehicle essentially contains, in containers 38, control circuits for horizontal and vertical thrusters 36, and sonar control circuits and for processing information exchanged with the surface building. A releasable balancing ballast 40 is also provided in the lower part of the vehicle, behind the sonar antenna, and fins 42 and fixed fins 44 are mounted at the rear of the lower part 16.

Des localisateurs acoustiques 46 sont montés à l'avant et à l'arrière de la partie supérieure 12 du véhicule. Di­vers équipements de navigation, tels qu'un courantomètre peuvent également être prévus.Acoustic locators 46 are mounted at the front and at the rear of the upper part 12 of the vehicle. Various navigation equipment, such as a current meter can also be provided.

Ce véhicule est utilisé de la façon suivante :
Le câble 28 transmet au véhicule, depuis un bâtiment de surface, l'énergie nécessaire à son fonctionnement (ali­mentation des propulseurs, du sonar, des mécanismes de déplacement et de stabilisation d'antenne, de circuits électroniques divers) et les signaux de commande des pro­ pulseurs, du sonar, etc... et sert également au transfert d'informations entre les circuits associés au sonar à bord du véhicule 10 et les circuits de traitement et de visualisation prévus à bord du bâtiment de surface. Ce câble peut avoir une longueur de plusieurs centaines de mètres et un poids total de l'ordre de 2 tonnes par exemple. La puissance des propulseurs horizontaux 34 est déterminée de façon à pouvoir, d'une part, tracter le câble de liaison 28 et, d'autre part, assurer une vitesse de déplacement de plusieurs noeuds du véhicule.This vehicle is used as follows:
The cable 28 transmits to the vehicle, from a surface building, the energy necessary for its operation (powering of the thrusters, of the sonar, of the mechanisms of displacement and stabilization of antenna, of various electronic circuits) and the control signals of the pro pulsers, sonar, etc., and is also used for transferring information between the circuits associated with the sonar on board the vehicle 10 and the processing and display circuits provided on board the surface vessel. This cable can have a length of several hundred meters and a total weight of the order of 2 tonnes for example. The power of the horizontal thrusters 34 is determined so as to be able, on the one hand, to tow the connecting cable 28 and, on the other hand, to ensure a speed of movement of several nodes of the vehicle.

La disposition de l'antenne 20 du sonar dans le décroche­ment 18 à l'extrémité inférieure avant du véhicule 10 permet de dégager le champ de vision de cette antenne vers l'avant et vers le bas et de la placer dans une zone d'eau morte lorsque le véhicule se déplace vers l'avant, de sorte qu'il n'est pas nécessaire de protéger l'antenne par un capot et qu'il est possible d'utiliser une antenne directionnelle pivotante sans que ses mouvements influent sur le déplacement du véhicule.The arrangement of the sonar antenna 20 in the recess 18 at the lower front end of the vehicle 10 makes it possible to clear the field of vision of this antenna forwards and downwards and to place it in a water area dead when the vehicle is moving forward, so there is no need to protect the antenna with a hood and it is possible to use a swiveling directional antenna without its movements influencing the movement of the vehicle.

Cette disposition particulière de l'antenne sonar permet également d'arrimer le véhicule à poste sous la coque du bâtiment de surface, et de l'utiliser ensuite en sonar de coque, sans limitation de ses performances et de son champ de vision. La figure 5 représente schématiquement la position du véhicule dans cette utilisation.This particular arrangement of the sonar antenna also makes it possible to secure the stationary vehicle under the hull of the surface building, and then to use it as hull sonar, without limitation of its performance and its field of vision. FIG. 5 schematically represents the position of the vehicle in this use.

Le véhicule a, en partie supérieure, une forme et une ré­sistance lui permettant d'être placé et immobilisé en po­sition sonar de coque sous le bâtiment de surface.The vehicle has, in the upper part, a shape and a resistance allowing it to be placed and immobilized in hull sonar position under the surface building.

Par ailleurs, le véhicule 10 peut également être ramené à bord ou mis à la mer par les moyens classiques de manu­tention qui équipent le navire. Dans ce cas, le câble de liaison 28 est largué ou accroché sur le véhicule par un plongeur.Furthermore, the vehicle 10 can also be brought back on board or put into the sea by conventional handling means which equip the ship. In this case, the connecting cable 28 is released or hung on the vehicle by a plunger.

Enfin, comme représenté schématiquement en figures 1 et 2, une rampe téléscopique horizontale 48 coulissante peut être prévue en partie inférieure du véhicule, pour proté­ ger son sonar et accroître son assise lorsqu'il est par exemple déposé sur un quai ou une plate-forme.Finally, as shown diagrammatically in FIGS. 1 and 2, a sliding horizontal telescopic ramp 48 can be provided in the lower part of the vehicle, to protect manage its sonar and increase its base when it is for example deposited on a quay or a platform.

Pour fixer les diées, on précisera, à titre d'exemple, que le véhicule sous-marin selon l'invention peut avoir une longueur de l'ordre de 3m à 3,50m, une largeur de l'ordre de 2m, une hauteur de l'ordre de 1,70m, un poids de 2t environ, et qu'il est capable d'opérer à plusieurs centaines de mètres en avant d'un bâtiment de surface jusqu'à une profondeur de 300m environ.To fix the diées, it will be specified, by way of example, that the underwater vehicle according to the invention may have a length of the order of 3m to 3.50m, a width of the order of 2m, a height of the order of 1.70m, a weight of around 2t, and that it is capable of operating several hundred meters in front of a surface building to a depth of around 300m.

Claims (12)

1) Véhicule sous-marin autopropulsé pour la détection d'objets immergés, comprenant des moyens de détection tels qu'un sonar et des moyens (34,36) de propulsion ho­rizontale et verticale alimentés en énergie par un câble (28) qui relie le véhicule à un bâtiment de surface et transmet également les ordres de manoeuvre du véhicule et de commande des moyens de détection, ainsi que les infor­mations échangées avec ces moyens, caractérisé en ce que le câble (28) est accroché sur le véhicule en un point fixe (30) situé sur l'axe de poussée des moyens (34) de propulsion horizontale, dans le plan longitudinal médian de symétrie latérale du véhicule et au voisinage du centre de gravité (G) ou sensiblement à la verticale de celui-ci, et en ce que le véhicule comprend un décroche­ment à sa partie supérieure arrière pour le passage du câble (28) et son débattement autour de son point d'accrochage, vers le haut et de chaque côté du véhicule (10).1) Self-propelled underwater vehicle for the detection of submerged objects, comprising detection means such as a sonar and means (34, 36) of horizontal and vertical propulsion supplied with energy by a cable (28) which connects the vehicle to a surface building and also transmits the orders for maneuvering the vehicle and controlling the detection means, as well as the information exchanged with these means, characterized in that the cable (28) is hung on the vehicle at a fixed point (30) situated on the thrust axis of the horizontal propulsion means (34), in the median longitudinal plane of lateral symmetry of the vehicle and in the vicinity of or substantially vertical to the center of gravity (G), and in that the vehicle comprises a recess at its upper rear part for the passage of the cable (28) and its travel around its point of attachment, upwards and on each side of the vehicle (10). 2) Véhicule selon la revendication 1, caractérisé en ce que l'antenne (20) du sonar est située à l'extrémité avant du véhicule dans un décrochement (18) de la partie inférieure (16) de la coque.2) Vehicle according to claim 1, characterized in that the antenna (20) of the sonar is located at the front end of the vehicle in a recess (18) of the lower part (16) of the hull. 3) Véhicule selon la revendication 2, caractérisé en ce que l'antenne (20) du sonar est montée rotative sur plus ou moins 180° autour d'un axe vertical (24) et pivotante autour d'un axe transversal (26).3) Vehicle according to claim 2, characterized in that the antenna (20) of the sonar is rotatably mounted more or less 180 ° around a vertical axis (24) and pivotable around a transverse axis (26). 4) Véhicule selon la revendication 2 ou 3, caractérisé en ce que le décrochement (18) de la partie inférieure avant de la coque délimite une zone d'eau morte autour de l'antenne (20) du sonar, lorsque le véhicule se déplace vers l'avant.4) Vehicle according to claim 2 or 3, characterized in that the recess (18) of the lower front part of the hull delimits an area of dead water around the antenna (20) of the sonar, when the vehicle is moving forward. 5) Véhicule selon l'une des revendications 1 à 4, carac­térisé en ce qu'il peut également constituer un sonar de coque.5) Vehicle according to one of claims 1 to 4, characterized in that it can also constitute a hull sonar. 6) Véhicule selon l'une des revendications 2 à 5, carac­térisé en ce qu'il comprend à sa partie inférieure une rampe téléscopique horizontale (48) pour la protection de l'antenne du sonar, par exemple lorsqu'il est posé sur une plate-forme.6) Vehicle according to one of claims 2 to 5, characterized in that it comprises at its lower part a horizontal telescopic ramp (48) for the protection of the sonar antenna, for example when placed on a platform. 7) Véhicule selon l'une des revendications précédentes, caractérisé en ce que sa partie inférieure (16) est déca­lée vers l'arrière par rapport à sa partie supérieure (12), d'une part pour former le décrochement avant (18) dans lequel est logée l'antenne (20) du sonar, d'autre part pour ménager le passage du câble de liaison (28) jusqu'à son point (30) d'accrochage au voisinage du centre de gravité du véhicule, et pour permettre le libre débattement de ce câble autour du point d'accrochage.7) Vehicle according to one of the preceding claims, characterized in that its lower part (16) is offset rearward relative to its upper part (12), on the one hand to form the front recess (18) in which is housed the antenna (20) of the sonar, on the other hand to provide the passage of the connecting cable (28) to its point (30) of attachment in the vicinity of the center of gravity of the vehicle, and to allow free movement of this cable around the attachment point. 8) Véhicule selon l'une des revendications précédentes, caractérisé en ce que sa partie supérieure (12) est es­sentiellement constituée de flotteurs (14), tandis que sa partie inférieure (16) contient essentiellement, à l'avant, des moyens d'orientation et de stabilisation de l'antenne (20) du sonar et, à l'arrière, des moyens élec­troniques de commande du sonar et de traitement des in­formations échangées avec ce dernier, des moyens de com­mande des propulseurs (34,36), un lest d'équilibrage (40) largable, et des dérives (42) et ailerons (40) fixes de stabilisation.8) Vehicle according to one of the preceding claims, characterized in that its upper part (12) consists essentially of floats (14), while its lower part (16) essentially contains, at the front, means for orientation and stabilization of the sonar antenna (20) and, at the rear, electronic means for controlling the sonar and for processing the information exchanged with the latter, means for controlling the thrusters (34, 36), a balancing ballast (40) which can be released, and stabilizing fins (42) and fins (40). 9) Véhicule selon la revendication 8, caractérisé en ce qu'un espace longitudinal vertical de passage et de dé­battement du câble de liaison est ménagé entre les flot­teurs (14) de la partie supérieure (12).9) Vehicle according to claim 8, characterized in that a vertical longitudinal space for passage and travel of the connecting cable is formed between the floats (14) of the upper part (12). 10) Véhicule selon l'une des revendications précédentes, caractérisé en ce qu'il comprend deux carénages latéraux (32) symétriques, sensiblement au niveau du point (30) d'accrochage du câble de liaison, et supportant chacun un propulseur horizontal (34) à hélice carénée.10) Vehicle according to one of the preceding claims, characterized in that it comprises two symmetrical side fairings (32), substantially at the point (30) of attachment of the connecting cable, and each supporting a horizontal thruster (34 ) with faired propeller. 11) Véhicule selon la revendication 10, caractérisé en ce que les propulseurs verticaux (36) sont logés dans les carénages latéraux (32), en avant des propulseurs hori­zontaux (34).11) Vehicle according to claim 10, characterized in that the vertical thrusters (36) are housed in the side fairings (32), in front of the horizontal thrusters (34). 12) Véhicule selon l'une des revendications 7 à 11, ca­ractérisé en ce que les propulseurs horizontaux (34) sont situés sensiblement au niveau du plan de jonction des parties supérieure (12) et inférieure (16) décalées du véhicule.12) Vehicle according to one of claims 7 to 11, characterized in that the horizontal thrusters (34) are located substantially at the junction plane of the upper (12) and lower (16) parts offset from the vehicle.
EP19890401586 1988-06-08 1989-06-08 Self-propelled submersible vehicle for the detection of under-water objects Expired - Lifetime EP0347288B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8807612 1988-06-08
FR8807612A FR2632603B1 (en) 1988-06-08 1988-06-08 SELF-PROPELLED UNDERWATER VEHICLE FOR DETECTION OF UNDERWATER OBJECTS

Publications (2)

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EP0347288A1 true EP0347288A1 (en) 1989-12-20
EP0347288B1 EP0347288B1 (en) 1992-03-25

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EP19890401586 Expired - Lifetime EP0347288B1 (en) 1988-06-08 1989-06-08 Self-propelled submersible vehicle for the detection of under-water objects

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EP (1) EP0347288B1 (en)
JP (1) JPH02504621A (en)
AU (1) AU624396B2 (en)
CA (1) CA1318552C (en)
DE (1) DE68901068D1 (en)
ES (1) ES2030985T3 (en)
FR (1) FR2632603B1 (en)
WO (1) WO1989011997A1 (en)

Cited By (2)

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WO2003086850A2 (en) * 2002-04-10 2003-10-23 Board Of Regents, The University Of Texas System Autonomous surface watercraft
CN106585930A (en) * 2016-12-09 2017-04-26 上海遨拓深水装备技术开发有限公司 Cabled underwater robot configuration method for three-dimensional image sonar

Families Citing this family (2)

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FR2697001B1 (en) * 1992-10-19 1994-11-18 Thomson Csf Underwater vehicle carrying detection means.
CN103213662B (en) * 2013-04-16 2015-07-15 浙江海洋学院 Slave-main type marine environment detection intelligent robot

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US2981073A (en) * 1956-07-27 1961-04-25 American Mach & Foundry Underwater craft
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DE2504225A1 (en) * 1975-02-01 1976-08-05 Erno Raumfahrttechnik Gmbh Underwater direction finding equipment - has sonar oscillator on hull base to operate with transmitter on fishing net
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GB2163114A (en) * 1984-07-02 1986-02-19 Offshore Syst Eng Osel Improvements in or relating to underwater vehicles

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US2981073A (en) * 1956-07-27 1961-04-25 American Mach & Foundry Underwater craft
US2987893A (en) * 1956-10-29 1961-06-13 American Mach & Foundry Underwater craft
US3367299A (en) * 1966-08-01 1968-02-06 Navy Usa Underwater recovery vehicle
DE2504225A1 (en) * 1975-02-01 1976-08-05 Erno Raumfahrttechnik Gmbh Underwater direction finding equipment - has sonar oscillator on hull base to operate with transmitter on fishing net
FR2304511A1 (en) * 1975-03-15 1976-10-15 British Aircraft Corp Ltd SUBMERSIBLE VEHICLE
US4010619A (en) * 1976-05-24 1977-03-08 The United States Of America As Represented By The Secretary Of The Navy Remote unmanned work system (RUWS) electromechanical cable system
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WO2003086850A2 (en) * 2002-04-10 2003-10-23 Board Of Regents, The University Of Texas System Autonomous surface watercraft
US6854406B2 (en) 2002-04-10 2005-02-15 Board Of Regents, The University Of Texas System Autonomous surface watercraft
WO2003086850A3 (en) * 2002-04-10 2005-03-10 Univ Texas Autonomous surface watercraft
CN106585930A (en) * 2016-12-09 2017-04-26 上海遨拓深水装备技术开发有限公司 Cabled underwater robot configuration method for three-dimensional image sonar

Also Published As

Publication number Publication date
CA1318552C (en) 1993-06-01
ES2030985T3 (en) 1992-11-16
DE68901068D1 (en) 1992-04-30
FR2632603B1 (en) 1993-04-30
AU3832889A (en) 1990-01-05
JPH02504621A (en) 1990-12-27
FR2632603A1 (en) 1989-12-15
AU624396B2 (en) 1992-06-11
WO1989011997A1 (en) 1989-12-14
EP0347288B1 (en) 1992-03-25

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