EP0347288B1 - Véhicule sous-marin autopropulsé pour la détection d'objets immergés - Google Patents

Véhicule sous-marin autopropulsé pour la détection d'objets immergés Download PDF

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Publication number
EP0347288B1
EP0347288B1 EP19890401586 EP89401586A EP0347288B1 EP 0347288 B1 EP0347288 B1 EP 0347288B1 EP 19890401586 EP19890401586 EP 19890401586 EP 89401586 A EP89401586 A EP 89401586A EP 0347288 B1 EP0347288 B1 EP 0347288B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
sonar
vehicle according
cable
horizontal
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.)
Expired - Lifetime
Application number
EP19890401586
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0347288A1 (fr
Inventor
Michel Guilloteau
Martin Petry
Armand Marie Raguenes
René Vincent
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ETAT-FRANCAIS REPRESENTE PAR LE DELEGUE GENERAL PO
Bertin Technologies SAS
Original Assignee
Direction General pour lArmement DGA
Bertin et Cie SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Direction General pour lArmement DGA, Bertin et Cie SA filed Critical Direction General pour lArmement DGA
Publication of EP0347288A1 publication Critical patent/EP0347288A1/fr
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Anticipated expiration legal-status Critical
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Classifications

    • 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 situated 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.
  • this vehicle 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.
  • 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 represent schematically 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 propellants, 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 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 approximately 2t, and that it is capable of operating several hundred meters in front of a surface building to a depth of approximately 300m.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP19890401586 1988-06-08 1989-06-08 Véhicule sous-marin autopropulsé pour la détection d'objets immergés Expired - Lifetime EP0347288B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8807612A FR2632603B1 (fr) 1988-06-08 1988-06-08 Vehicule sous-marin autopropulse pour la detection d'objets immerges
FR8807612 1988-06-08

Publications (2)

Publication Number Publication Date
EP0347288A1 EP0347288A1 (fr) 1989-12-20
EP0347288B1 true EP0347288B1 (fr) 1992-03-25

Family

ID=9367063

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19890401586 Expired - Lifetime EP0347288B1 (fr) 1988-06-08 1989-06-08 Véhicule sous-marin autopropulsé pour la détection d'objets immergés

Country Status (8)

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

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2697001B1 (fr) * 1992-10-19 1994-11-18 Thomson Csf Véhicule sous-marin porteur de moyens de détection.
WO2003086850A2 (en) * 2002-04-10 2003-10-23 Board Of Regents, The University Of Texas System Autonomous surface watercraft
CN103213662B (zh) * 2013-04-16 2015-07-15 浙江海洋学院 子母式海洋环境检测智慧机器人
CN106585930B (zh) * 2016-12-09 2020-04-10 上海遨拓深水装备技术开发有限公司 一种应用三维图像声呐的有缆水下机器人配置方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (de) * 1975-02-01 1976-08-05 Erno Raumfahrttechnik Gmbh Unterwasserpeilgeraet
GB1501981A (en) * 1975-03-15 1978-02-22 British Aircraft Corp Ltd Submersible vehicles
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
GB2163114B (en) * 1984-07-02 1987-11-25 Offshore Syst Eng Osel Improvements in or relating to underwater vehicles
AU2089288A (en) * 1987-07-16 1989-02-13 Remotely Operated Vehicles Limited Improved underwater remotely controlled vehicle

Also Published As

Publication number Publication date
AU624396B2 (en) 1992-06-11
EP0347288A1 (fr) 1989-12-20
DE68901068D1 (de) 1992-04-30
FR2632603A1 (fr) 1989-12-15
ES2030985T3 (es) 1992-11-16
CA1318552C (fr) 1993-06-01
JPH02504621A (ja) 1990-12-27
AU3832889A (en) 1990-01-05
FR2632603B1 (fr) 1993-04-30
WO1989011997A1 (fr) 1989-12-14

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