EP0490737A1 - Underwater exploration apparatus - Google Patents

Underwater exploration apparatus Download PDF

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Publication number
EP0490737A1
EP0490737A1 EP91403302A EP91403302A EP0490737A1 EP 0490737 A1 EP0490737 A1 EP 0490737A1 EP 91403302 A EP91403302 A EP 91403302A EP 91403302 A EP91403302 A EP 91403302A EP 0490737 A1 EP0490737 A1 EP 0490737A1
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EP
European Patent Office
Prior art keywords
shuttle
cable
enclosure
chamber
exploration
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
EP91403302A
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German (de)
French (fr)
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EP0490737B1 (en
Inventor
Jean Marini
Alain Brisse
Fernand Gledel
Marcel Tardivon
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.)
Areva NP SAS
Mors SA
Original Assignee
Framatome SA
Mors SA
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Publication of EP0490737A1 publication Critical patent/EP0490737A1/en
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Publication of EP0490737B1 publication Critical patent/EP0490737B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/18—Buoys having means to control attitude or position, e.g. reaction surfaces or tether
    • B63B22/20—Ballast means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2211/00—Applications
    • B63B2211/02—Oceanography

Definitions

  • the present invention relates to an underwater exploration device, of the type comprising a shuttle intended to go back and forth along a guide cable between two predetermined high and low levels.
  • the shuttle In devices of this type, the shuttle is intended to perform autonomously for a relatively long period, for example for a year, back and forth between the two predetermined levels, for example one round trip per day. During these trips, on-board instrumentation, powered by accumulator batteries also contained in the shuttle, measures various environmental parameters: strength of underwater currents, water temperature, etc. Some shuttles are equipped to transmit corresponding signals to a floating buoy that holds the upper end of the cable, which buoy in turn transmits its information to satellites in orbit.
  • the oceanographic study system shown in Figure 1 comprises a steel cable 1 coated with a suitable plastic, stretched approximately vertically between a surface buoy 2 and a dead body 3 wet on the seabed 4.
  • a surface buoy 2 On this two floats are attached, namely an upper float 5 forming a ballast tank and a lower float 6.
  • the float 5 can be find at - 50 meters and the float 6 at - 1000 meters, with a seabed at - 5000 meters.
  • a shuttle 7 is guided along the cable 1 between the two floats. It is for example intended to carry out a round trip from float 5 to float 6 and vice versa every 24 hours for a year, the duration of each round trip being of the order of 2 hours.
  • the shuttle 7 contains electronic instrumentation which enables it to send acoustic signals representative of the measurements it performs to a receiver 8 secured to the buoy 2, and the latter includes means for retransmitting this information to an orbiting satellite, as shown by arrow 9.
  • FIGS 2 and 3 show the arrangement of the shuttle 7, some mechanical connection means having been omitted for clarity of the drawing.
  • This shuttle 7 essentially comprises a sealed enclosure 10 and a fairing 12.
  • the enclosure 10 comprises a hollow shaft 13 crossed with clearance by the cable 1, and two hemispheres, upper 14 and lower 15, connected to each other by a cylindrical spacer 16. On this latter are fixed a battery of accumulators 17, electronic instrumentation 18 comprising sensors suitable for measuring on the one hand the speed of the shuttle along the cable, on the other hand the desired physical parameters, as well as means for transmitting acoustic signals to the buoy 2 , speed regulation means 19, and displacement control means 20 comprising a timed processor.
  • Each set comprises on the one hand a pressure roller 21, and on the other hand two regulation rollers 22 each of which contains permanent magnets 23 forming part of a reversible motor 24.
  • the fairing 12 of hydrodynamic shape, surrounds and protects the two sets of rollers as well as an important part of the enclosure 10.
  • This fairing has, in elevation (FIG. 2 ), the shape of a crescent, and, in plan view ( Figure 3), an ovoid shape. It has holes at its upper and lower ends for the passage of the cable 1.
  • the assembly of the fairing and of the enclosure that is to say the assembly of the shuttle, can pivot freely around the axis. cable like a wind vane.
  • a first chamber 26, of generally tubular shape, is delimited in the fairing 12. At its upper end, situated above the set of upper rollers, this chamber ends in an annular opening 27 surrounding the cable.
  • the chamber 26 bypasses the enclosure 10 and, below the latter, it ends with a discharge opening 28 selectively closable by a hatch 29 controlled by an electromagnet 30.
  • the fairing 12 delimits another chamber 31 which contains a permanent ballast 32. Means not shown make it possible to drop this ballast for an emergency ascent of the shuttle.
  • the float 5 ( Figures 1, 2, 4 and 5) constitutes a reserve of a granular ballast 33, which can be made of any suitable material, for example metal balls.
  • This tank has a lower vertical appendage which defines a tubing of outlet 34, slightly offset from the axis of cable 1, in which are mounted two upper 35 and lower 36 valves spaced from one another.
  • These valves which, as shown in FIG. 5, can be of the tubular membrane type 37 which can be crushed by inflation by means of a compressed gas contained in the float, delimit between them, in the tubing 34, a volume which defines a predetermined load. from the east.
  • the shuttle At rest, the shuttle is in the high position, pressing against the lower appendage 34 of the float 5, as illustrated in FIG. 4.
  • the hatch 29 is open, the chamber 26 is empty of all ballast, the valves 35 and 36 are closed and contain a ballast load between them, following prior opening-closing operations of the two valves.
  • the outlet opening of the tube 34 is located opposite the annular opening 27 of the chamber 26.
  • the hatch 29 When the descent is to begin, the hatch 29 is closed and the valve 36 is open.
  • the ballast load therefore falls into chamber 26 and is retained there by the hatch 29.
  • the shuttle thus weighed down, descends. Its speed is regulated by the reversible motors 24, which operate as dynamos, the regulation means 19 being adapted to vary the load in which these motors flow, as a function of the speed of movement measured by the instrumentation 18, in order to obtain an appropriate braking effect.
  • control means 20 briefly open the hatch 29 to let out a small amount of ballast.
  • the electromagnet 30 When the shuttle is in the low position, in contact with the lower float 6, and must go back up, the electromagnet 30 is actuated to open the hatch 29 and, thus, to release the load of ballast contained in the chamber 26.
  • the speed regulation during the climb proceed as before. If, due to the accumulation of foreign bodies on the cable, the shuttle is stopped or excessively slowed down, this is detected by the instrumentation 18, and the regulation means 19 supply electric current to the motors 24, which then operate temporarily in drive motors.
  • these means consist of fins 38, indicated in phantom in Figure 4, articulated around a horizontal axis.
  • the control means 20 are then adapted to modify the inclination, and therefore the lift, of these fins.
  • auxiliary cavity 39 for example cylindrical, of which a wall 40, in contact with water, is elastically deformable under the effect of the pressure, this wall being for example constituted by a flexible membrane as shown, or, alternatively, by a piston loaded by a spring. As the descent is measured, this wall 40 sinks, which reduces the buoyancy exerted on the shuttle.
  • the variant shown in Figure 6 differs essentially from the previous one only by the speed control means used: the rollers 22 of Figures 2 and 3 are replaced by simple pressure rollers 22A, and the spacer 16 contains a induction coil 41 coaxially surrounding the central tube 13. During the movement of the shuttle, an electric current is sent into this coil by the regulating means 19 and induces eddy currents in the cable 1. The electric current is regulated in as a function of the speed measured, so as to produce appropriate braking by eddy currents.

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  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

This underwater exploration apparatus comprises on the one hand a ballast reservoir (5), and on the other hand a shuttle (7), a sealed enclosure (10) of which contains the instrumentation for measuring, for control and for transmission of signals to a surface buoy, this enclosure being guided along a cable (1) fixed to the ballast reservoir. The enclosure (10) is equipped with a chamber (26), the lower opening of which is equipped with a trap (29). <??>When the shuttle is in the high position, a load of ballast is transferred from the reservoir (5) into the chamber (26), which brings about the descent of the shuttle. This load is released in the low position of the shuttle by opening the trap (29) in order to allow it to rise again. <??>Application to oceanographic studies. <IMAGE>

Description

La présente invention est relative à un appareil d'exploration sous-marine, du type comprenant une navette destinée à effectuer des allers-retours le long d'un câble de guidage entre deux niveaux haut et bas prédéterminés.The present invention relates to an underwater exploration device, of the type comprising a shuttle intended to go back and forth along a guide cable between two predetermined high and low levels.

Dans les appareils de ce type, la navette est destinée à effectuer de façon autonome pendant une période relativement longue, par exemple pendant un an, des allers-retours entre les deux niveaux prédéterminés, par exemple un aller-retour par jour. Pendant ces déplacements, une instrumentation embarquée, alimentée par des batteries d'accumulateurs également contenues dans la navette, effectue des mesures de divers paramètres de l'environnement : force des courants sous-marins, température de l'eau, etc. Certaines navettes sont équipées pour émettre des signaux correspondants vers une bouée flottante qui maintient l'extrémité supérieure du câble, laquelle bouée retransmet à son tour ses informations vers des satellites en orbite.In devices of this type, the shuttle is intended to perform autonomously for a relatively long period, for example for a year, back and forth between the two predetermined levels, for example one round trip per day. During these trips, on-board instrumentation, powered by accumulator batteries also contained in the shuttle, measures various environmental parameters: strength of underwater currents, water temperature, etc. Some shuttles are equipped to transmit corresponding signals to a floating buoy that holds the upper end of the cable, which buoy in turn transmits its information to satellites in orbit.

Un problème essentiel concernant ces navettes réside dans ses moyens de propulsion. En effet, l'entraînement par un moteur conduirait à un volume de batteries d'accumulateurs excessif.An essential problem concerning these shuttles lies in its means of propulsion. Indeed, the drive by a motor would lead to an excessive volume of accumulator batteries.

L'appareil d'exploration sous marine suivant l'invention, pour résoudre ce problème de façon particulièrement simple et économique, est caractérisé en qu'il comprend un réservoir de lest solidaire du câble au niveau haut prédéterminé, pourvu à sa partie inférieure d'une ouverture de sortie sélectivement obturable par un dispositif d'obturation, et en ce que la navette comprend :

  • une enceinte étanche contenant une instrumentation de mesure, de commande et éventuellement d'émission de signaux, et une source de courant électrique pour cette instrumentation;
  • des moyens de guidage de cette enceinte le long du câble;
  • une chambre solidaire de l'enceinte au moins pour les déplacements le long du câble, munie à son extrémité supérieure d'une ouverture de chargement et à son extrémité inférieure d'une ouverture d'évacuation sélectivement obturable par une trappe;
  • des moyens pour, en position haute de la navette, transférer une charge prédéterminée de lest de l'ouverture de sortie du réservoir à l'ouverture de chargement de la chambre; et
  • des moyens pour ouvrir sélectivement la trappe de la chambre.
The underwater exploration apparatus according to the invention, in order to solve this problem in a particularly simple and economical manner, is characterized in that it comprises a ballast tank integral with the cable at the predetermined high level, provided at its lower part with an outlet opening selectively closable by a closure device, and in that the shuttle comprises:
  • a sealed enclosure containing measurement, control and possibly instrumentation signal transmission, and a source of electric current for this instrumentation;
  • means for guiding this enclosure along the cable;
  • a chamber integral with the enclosure at least for movement along the cable, provided at its upper end with a loading opening and at its lower end with a discharge opening selectively closable by a hatch;
  • means for, in the high position of the shuttle, transferring a predetermined ballast load from the outlet opening of the tank to the loading opening of the chamber; and
  • means for selectively opening the chamber hatch.

Suivant d'autres caractéristiques :

  • la chambre fait partie d'un carénage monté librement rotatif autour du câble;
  • le carénage est solidaire de l'enceinte;
  • l'ouverture de chargement de la chambre est annulaire, d'axe confondu avec le câble, l'ouverture de sortie du réservoir étant décalée par rapport à cet axe;
  • le dispositif d'obturation est un dispositif doseur, notamment à deux vannes superposées;
  • la navette comprend en outre un lest permanent en service normal, et des moyens de largage de ce lest permanent;
  • les moyens de guidage comprennent des galets roulant sur le câble et reliés à des moteurs réversibles qui peuvent fonctionner soit en générateurs débitant dans une charge variable, soit en moteurs d'entraînement;
  • l'enceinte contient une bobine d'induction qui entoure le câble, et des moyens pour alimenter cette bobine avec un courant électrique dont l'intensité varie avec la vitesse de la navette;
  • la navette comporte extérieurement une capacité étanche dont une paroi est déformable élastiquement sous l'effet de la pression extérieure;
  • la navette comporte des volets réglables montés rotatifs autour d'un axe horizontal.
According to other characteristics:
  • the chamber is part of a fairing mounted freely rotatable around the cable;
  • the fairing is integral with the enclosure;
  • the loading opening of the chamber is annular, of axis coincident with the cable, the outlet opening of the tank being offset with respect to this axis;
  • the closure device is a metering device, in particular with two superimposed valves;
  • the shuttle further comprises a permanent ballast in normal service, and means for releasing this permanent ballast;
  • the guide means comprise rollers rolling on the cable and connected to reversible motors which can operate either as generators delivering in a variable load, or as drive motors;
  • the enclosure contains an induction coil which surrounds the cable, and means for supplying this coil with an electric current whose intensity varies with the speed of the shuttle;
  • the shuttle externally has a sealed capacity, one wall of which is elastically deformable under the effect of external pressure;
  • the shuttle has adjustable flaps mounted to rotate about a horizontal axis.

Des exemples de réalisation de l'invention vont maintenant être décrits en regard des dessins annexés, sur lesquels :

  • la Figure 1 est une vue générale d'un système d'études océanographiques comprenant un appareil conforme à l'invention;
  • la Figure 2 est une vue schématique, en coupe longitudinale, de la navette;
  • la Figure 3 est une vue prise en coupe suivant la ligne III-III de la Figure 2;
  • la Figure 4 représente en élévation l'appareil suivant l'invention, en position haute de la navette;
  • la Figure 5 est une vue en coupe longitudinale, à plus grande échelle, d'un détail de la Figure 4; et
  • la Figure 6 est une vue analogue à la Figure 2 d'une variante de la navette.
Examples of embodiments of the invention will now be described with reference to the appended drawings, in which:
  • Figure 1 is a general view of an oceanographic study system comprising an apparatus according to the invention;
  • Figure 2 is a schematic view, in longitudinal section, of the shuttle;
  • Figure 3 is a sectional view taken along line III-III of Figure 2;
  • Figure 4 shows in elevation the apparatus according to the invention, in the high position of the shuttle;
  • Figure 5 is a longitudinal sectional view, on a larger scale, of a detail of Figure 4; and
  • Figure 6 is a view similar to Figure 2 of a variant of the shuttle.

Le système d'études océanographiques représenté à la Figure 1 comprend un câble 1 en acier revêtu d'une matière plastique apppropriée, tendu à peu près verticalement entre une bouée de surface 2 et un corps mort 3 mouillé sur le fond marin 4. Sur ce câble sont fixés deux flotteurs, à savoir un flotteur supérieur 5 formant réservoir de lest et un flotteur inférieur 6. A titre d'exemple, le flotteur 5 peut se trouver à - 50 mètres et le flotteur 6 à - 1000 mètres, avec un fond marin à - 5 000 mètres.The oceanographic study system shown in Figure 1 comprises a steel cable 1 coated with a suitable plastic, stretched approximately vertically between a surface buoy 2 and a dead body 3 wet on the seabed 4. On this two floats are attached, namely an upper float 5 forming a ballast tank and a lower float 6. For example, the float 5 can be find at - 50 meters and the float 6 at - 1000 meters, with a seabed at - 5000 meters.

Une navette 7 est guidée le long du câble 1 entre les deux flotteurs. Elle est par exemple destinée à effectuer un aller-retour du flotteur 5 au flotteur 6 et inversement chaque 24 heures pendant un an, la durée de chaque aller-retour étant de l'ordre de 2 heures. Comme illustré en trait mixte, la navette 7 contient une instrumentation électronique qui lui permet d'envoyer des signaux acoustiques représentatifs des mesures qu'elle effectue à un récepteur 8 solidaire de la bouée 2, et cette dernière comporte des moyens pour retransmettre ces informations à un satellite en orbite, comme schématisé par la flèche 9.A shuttle 7 is guided along the cable 1 between the two floats. It is for example intended to carry out a round trip from float 5 to float 6 and vice versa every 24 hours for a year, the duration of each round trip being of the order of 2 hours. As illustrated in phantom, the shuttle 7 contains electronic instrumentation which enables it to send acoustic signals representative of the measurements it performs to a receiver 8 secured to the buoy 2, and the latter includes means for retransmitting this information to an orbiting satellite, as shown by arrow 9.

Les Figures 2 et 3 représentent l'agencement de la navette 7, certains moyens de liaison mécaniques ayant été omis pour la clarté du dessin. Cette navette 7 comprend essentiellement une enceinte étanche 10 et un carénage 12.Figures 2 and 3 show the arrangement of the shuttle 7, some mechanical connection means having been omitted for clarity of the drawing. This shuttle 7 essentially comprises a sealed enclosure 10 and a fairing 12.

L'enceinte 10 comprend un arbre creux 13 traversé avec jeu par le câble 1, et deux hémisphères, supérieur 14 et inférieur 15, reliés l'un à l'autre par une entretoise cylindrique 16. Sur cette dernière sont fixés une batterie d'accumulateurs 17, une instrumentation électronique 18 comportant des capteurs appropriés pour mesurer d'une part la vitesse de la navette le long du câble, d'autre part les paramètres physiques désirés, ainsi que des moyens d'émission de signaux acoustiques vers la bouée 2, des moyens de régulation de vitesse 19, et des moyens de commande de déplacement 20 comportant un processeur temporisé.The enclosure 10 comprises a hollow shaft 13 crossed with clearance by the cable 1, and two hemispheres, upper 14 and lower 15, connected to each other by a cylindrical spacer 16. On this latter are fixed a battery of accumulators 17, electronic instrumentation 18 comprising sensors suitable for measuring on the one hand the speed of the shuttle along the cable, on the other hand the desired physical parameters, as well as means for transmitting acoustic signals to the buoy 2 , speed regulation means 19, and displacement control means 20 comprising a timed processor.

A l'enceinte 10 sont reliés, par des moyens appropriés, deux jeux, respectivement supérieur et inférieur, de galets de guidage disposés à 120° les uns des autres et roulant sur le câble 1. Chaque jeu comprend d'une part un galet presseur 21, et d'autre part deux galets 22 de régulation dont chacun contient des aimants permanents 23 faisant partie d'un moteur réversible 24.To the enclosure 10 are connected, by appropriate means, two sets, respectively upper and lower, of guide rollers arranged at 120 ° one of others and rolling on the cable 1. Each set comprises on the one hand a pressure roller 21, and on the other hand two regulation rollers 22 each of which contains permanent magnets 23 forming part of a reversible motor 24.

A l'enceinte 10 est également relié solidairement le carénage 12. Celui-ci, de forme hydrodynamique, entoure et protège les deux jeux de galets ainsi qu'une partie importante de l'enceinte 10. Ce carénage a, en élévation (Figure 2), la forme d'un croissant, et, en vue en plan (Figure 3), une forme ovoïde. Il présente à ses extrémités supérieure et inférieure des trous pour le passage du câble 1. L'ensemble du carénage et de l'enceinte, c'est-à-dire l'ensemble de la navette, peut pivoter librement autour de l'axe du câble à la manière d'une girouette.To the enclosure 10 is also integrally connected the fairing 12. The latter, of hydrodynamic shape, surrounds and protects the two sets of rollers as well as an important part of the enclosure 10. This fairing has, in elevation (FIG. 2 ), the shape of a crescent, and, in plan view (Figure 3), an ovoid shape. It has holes at its upper and lower ends for the passage of the cable 1. The assembly of the fairing and of the enclosure, that is to say the assembly of the shuttle, can pivot freely around the axis. cable like a wind vane.

Une première chambre 26, de forme générale tubulaire, est délimitée dans le carénage 12. A son extrémité supérieure, située au-dessus du jeu de galets supérieur, cette chambre se termine par une ouverture annulaire 27 entourant le câble. La chambre 26 contourne l'enceinte 10 et, au-dessous de celle-ci, elle se termine par une ouverture d'évacuation 28 obturable sélectivement par une trappe 29 commandée par un électroaimant 30.A first chamber 26, of generally tubular shape, is delimited in the fairing 12. At its upper end, situated above the set of upper rollers, this chamber ends in an annular opening 27 surrounding the cable. The chamber 26 bypasses the enclosure 10 and, below the latter, it ends with a discharge opening 28 selectively closable by a hatch 29 controlled by an electromagnet 30.

Le carénage 12 délimite une autre chambre 31 qui contient un lest permanent 32. Des moyens non représentés permettent de larguer ce lest pour une remontée d'urgence de la navette.The fairing 12 delimits another chamber 31 which contains a permanent ballast 32. Means not shown make it possible to drop this ballast for an emergency ascent of the shuttle.

Le flotteur 5 (Figures 1, 2, 4 et 5) constitue une réserve d'un lest granulaire 33, lequel peut être constitué de tout matériau approprié, par exemple de billes métalliques. Ce réservoir comporte un appendice vertical inférieur qui définit une tubulure de sortie 34, légèrement décalée par rapport à l'axe du câble 1, dans laquelle sont montées deux vannes supérieure 35 et inférieure 36 espacées l'une de l'autre. Ces vannes, qui comme représenté sur la Figure 5, peuvent être du type à membrane tubulaire 37 écrasable par gonflage au moyen d'un gaz comprimé contenu dans le flotteur, délimitent entre elles, dans la tubulure 34, un volume qui définit une charge prédéterminée de lest.The float 5 (Figures 1, 2, 4 and 5) constitutes a reserve of a granular ballast 33, which can be made of any suitable material, for example metal balls. This tank has a lower vertical appendage which defines a tubing of outlet 34, slightly offset from the axis of cable 1, in which are mounted two upper 35 and lower 36 valves spaced from one another. These valves, which, as shown in FIG. 5, can be of the tubular membrane type 37 which can be crushed by inflation by means of a compressed gas contained in the float, delimit between them, in the tubing 34, a volume which defines a predetermined load. from the east.

Le fonctionnement de la navette est le suivant.The operation of the shuttle is as follows.

Au repos, la navette se trouve en position haute, en appui contre l'appendice inférieur 34 du flotteur 5, comme illustré à la Figure 4. La trappe 29 est ouverte, la chambre 26 est vide de tout lest, les vannes 35 et 36 sont fermées et renferment entre elles une charge de lest, à la suite de manoeuvres préalables d'ouverture-fermeture des deux vannes. Quelle que soit la position angulaire de la navette, imposée par la direction du courant, l'ouverture de sortie de la tubulure 34 se trouve en regard de l'ouverture annulaire 27 de la chambre 26.At rest, the shuttle is in the high position, pressing against the lower appendage 34 of the float 5, as illustrated in FIG. 4. The hatch 29 is open, the chamber 26 is empty of all ballast, the valves 35 and 36 are closed and contain a ballast load between them, following prior opening-closing operations of the two valves. Whatever the angular position of the shuttle, imposed by the direction of the current, the outlet opening of the tube 34 is located opposite the annular opening 27 of the chamber 26.

Lorsque la descente doit commencer, la trappe 29 est fermée et la vanne 36 est ouverte. La charge de lest tombe donc dans la chambre 26 et y est retenue par la trappe 29. La navette, ainsi alourdie, descend. Sa vitesse est régulée par les moteurs réversibles 24, qui fonctionnent en dynamos, les moyens de régulation 19 étant adaptés pour faire varier la charge dans laquelle ces moteurs débitent, en fonction de la vitesse de déplacement mesurée par l'instrumentation 18, afin d'obtenir un effet de freinage approprié.When the descent is to begin, the hatch 29 is closed and the valve 36 is open. The ballast load therefore falls into chamber 26 and is retained there by the hatch 29. The shuttle, thus weighed down, descends. Its speed is regulated by the reversible motors 24, which operate as dynamos, the regulation means 19 being adapted to vary the load in which these motors flow, as a function of the speed of movement measured by the instrumentation 18, in order to obtain an appropriate braking effect.

Si cet effet se révèle insuffisant, les moyens de commande 20 ouvrent brièvement la trappe 29 pour laisser échapper une petite quantité de lest.If this effect proves to be insufficient, the control means 20 briefly open the hatch 29 to let out a small amount of ballast.

Lorsque la navette est en position basse, au contact du flotteur inférieur 6, et doit remonter, l'électroaimant 30 est actionné pour ouvrir la trappe 29 et, ainsi, larguer la charge de lest contenue dans la chambre 26. La régulation de la vitesse pendant la montée s'effectue comme précédemment. Si, par suite de l'accumulation de corps étrangers sur le câble, la navette est arrêtée ou ralentie excessivement, ceci est détecté par l'instrumentation 18, et les moyens de régulation 19 fournissent du courant électrique aux moteurs 24, lesquels fonctionnent alors provisoirement en moteurs d'entraînement.When the shuttle is in the low position, in contact with the lower float 6, and must go back up, the electromagnet 30 is actuated to open the hatch 29 and, thus, to release the load of ballast contained in the chamber 26. The speed regulation during the climb, proceed as before. If, due to the accumulation of foreign bodies on the cable, the shuttle is stopped or excessively slowed down, this is detected by the instrumentation 18, and the regulation means 19 supply electric current to the motors 24, which then operate temporarily in drive motors.

Du fait des courants marins, il peut arriver que le câble s'incurve suffisamment entre les flotteurs 5 et 6 pour que la résistance à la descente augmente notablement dans la région inférieure de la course de la navette. Pour maintenir la vitesse de celle-ci constante, il est alors souhaitable de munir la navette de moyens de variations de son hydrodynamisme ou de sa flottabilité.Due to sea currents, it may happen that the cable bends enough between the floats 5 and 6 so that the resistance to descent increases significantly in the lower region of the shuttle travel. To keep the speed of the latter constant, it is then desirable to provide the shuttle with means of variations in its hydrodynamics or its buoyancy.

Suivant un premier mode de réalisation, ces moyens sont constitués par des ailerons 38, indiqués en trait mixte à la Figure 4, articulés autour d'un axe horizontal. Les moyens de commande 20 sont alors adaptés pour modifier l'inclinaison, et donc la portance, de ces ailerons.According to a first embodiment, these means consist of fins 38, indicated in phantom in Figure 4, articulated around a horizontal axis. The control means 20 are then adapted to modify the inclination, and therefore the lift, of these fins.

Une autre possibilité, illustrée sur la variante de la Figure 6, consiste à munir extérieurement la navette d'une cavité auxiliaire 39, par exemple cylindrique, dont une paroi 40, au contact de l'eau, est élastiquement déformable sous l'effet de la pression, cette paroi étant par exemple constituée par une membrane souple comme représenté, ou, en variante, par un piston chargé par un ressort. Au fur de la mesure de la descente, cette paroi 40 s'enfonce, ce qui réduit la poussée d'Archimède s'exerçant sur la navette.Another possibility, illustrated in the variant of FIG. 6, consists in providing the shuttle externally with an auxiliary cavity 39, for example cylindrical, of which a wall 40, in contact with water, is elastically deformable under the effect of the pressure, this wall being for example constituted by a flexible membrane as shown, or, alternatively, by a piston loaded by a spring. As the descent is measured, this wall 40 sinks, which reduces the buoyancy exerted on the shuttle.

Les deux moyens ci-dessus peuvent bien entendu être combinés.The above two means can of course be combined.

La variante représentée à la Figure 6 ne diffère pour l'essentiel de la précédente que par les moyens de régulation de vitesse utilisés : les galets 22 des Figures 2 et 3 sont remplacés par de simples galets presseurs 22A, et l'entretoise 16 contient une bobine d'induction 41 entourant coaxialement le tube central 13. Pendant le mouvement de la navette, un courant électrique est envoyé dans cette bobine par les moyens de régulation 19 et induit des courants de Foucault dans le câble 1. Le courant électrique est régulé en fonction de la vitesse mesurée, de façon à produire un freinage approprié par courants de Foucault.The variant shown in Figure 6 differs essentially from the previous one only by the speed control means used: the rollers 22 of Figures 2 and 3 are replaced by simple pressure rollers 22A, and the spacer 16 contains a induction coil 41 coaxially surrounding the central tube 13. During the movement of the shuttle, an electric current is sent into this coil by the regulating means 19 and induces eddy currents in the cable 1. The electric current is regulated in as a function of the speed measured, so as to produce appropriate braking by eddy currents.

Claims (10)

1 - Appareil d'exploration sous-marine, du type comprenant une navette (7) destinée à effectuer des allers-retours le long d'un câble de guidage (1) entre deux niveaux haut et bas prédéterminés, caractérisé en qu'il comprend un réservoir (5) de lest (33) solidaire du câble au niveau haut prédéterminé, pourvu à sa partie inférieure d'une ouverture de sortie sélectivement obturable par un dispositif d'obturation (35, 36), et en ce que la navette (7) comprend : - une enceinte étanche (10) contenant une instrumentation (18 à 20) de mesure, de commande et éventuellement d'émission de signaux, et une source de courant électrique (17) pour cette instrumentation; - des moyens (21, 22) de guidage de cette enceinte le long du câble (1); - une chambre (26) solidaire de l'enceinte au moins pour les déplacements le long du câble, munie à son extrémité supérieure d'une ouverture (27) de chargement et à son extrémité inférieure d'une ouverture d'évacuation (28) sélectivement obturable par une trappe (29); - des moyens pour, en position haute de la navette, transférer une charge prédéterminée de lest de l'ouverture de sortie du réservoir (5) à l'ouverture de chargement (27) de la chambre (26); et - des moyens (30) pour ouvrir sélectivement la trappe (29) de la chambre (26). 1 - Apparatus for underwater exploration, of the type comprising a shuttle (7) intended to go back and forth along a guide cable (1) between two predetermined high and low levels, characterized in that it comprises a ballast tank (5) integral with the cable at the predetermined high level, provided at its lower part with an outlet opening selectively closable by a closure device (35, 36), and in that the shuttle ( 7) includes: - a sealed enclosure (10) containing an instrumentation (18 to 20) for measuring, controlling and possibly transmitting signals, and a source of electric current (17) for this instrumentation; - Means (21, 22) for guiding this enclosure along the cable (1); - A chamber (26) integral with the enclosure at least for movement along the cable, provided at its upper end with a loading opening (27) and at its lower end with a discharge opening (28) selectively closable by a hatch (29); - Means for, in the high position of the shuttle, transfer a predetermined load of ballast from the outlet opening of the tank (5) to the loading opening (27) of the chamber (26); and - Means (30) for selectively opening the hatch (29) of the chamber (26). 2 - Appareil d'exploration selon la revendication 1, caractérisé en ce que la chambre (26) fait partie d'un carénage (25) monté librement rotatif autour du câble (1). 2 - Exploration apparatus according to claim 1, characterized in that the chamber (26) is part of a fairing (25) freely rotatably mounted around the cable (1). 3 - Appareil d'exploration suivant la revendication 2, caractérisé en ce que le carénage (25) est solidaire de l'enceinte (10). 3 - exploration apparatus according to claim 2, characterized in that the fairing (25) is integral with the enclosure (10). 4 - Appareil d'exploration suivant la revendication 2 ou 3, caractérisé en ce que l'ouverture de chargement (27) de la chambre (26) est annulaire, d'axe confondu avec le câble (1), l'ouverture de sortie (34) du réservoir (5) étant décalée par rapport à cet axe. 4 - Exploration apparatus according to claim 2 or 3, characterized in that the loading opening (27) of the chamber (26) is annular, of axis coincident with the cable (1), the outlet opening (34) of the reservoir (5) being offset with respect to this axis. 5 - Appareil d'exploration suivant l'une quelconque des revendications 1 à 4, caractérisé en ce que le dispositif d'obturation (35, 36) est un dispositif doseur, notamment à deux vannes superposées. 5 - Exploration apparatus according to any one of claims 1 to 4, characterized in that the closure device (35, 36) is a metering device, in particular with two superimposed valves. 6 - Appareil d'exploration suivant l'une quelconque des revendications 1 à 5, caractérisé en ce que la navette (7) comprend en outre un lest permanent en service normal (32), et des moyens de largage de ce lest permanent. 6 - An exploration device according to any one of claims 1 to 5, characterized in that the shuttle (7) further comprises a permanent ballast in normal service (32), and means for releasing this permanent ballast. 7 - Appareil d'exploration suivant l'une quelconque des revendications 1 à 6, caractérisé en ce que les moyens de guidage comprennent des galets (22) roulant sur le câble (1) et reliés à des moteurs réversibles (24) qui peuvent fonctionner soit en générateurs débitant dans une charge variable, soit en moteurs d'entraînement. 7 - exploration apparatus according to any one of claims 1 to 6, characterized in that the guide means comprise rollers (22) rolling on the cable (1) and connected to reversible motors (24) which can operate either by generators delivering in a variable load, or by drive motors. 8 - Appareil d'exploration suivant l'une quelconque des revendications 1 à 6, caractérisé en ce que l'enceinte (10) contient une bobine d'induction (41) qui entoure le câble (1), et des moyens pour alimenter cette bobine avec un courant électrique dont l'intensité varie avec la vitesse de la navette (7). 8 - exploration apparatus according to any one of claims 1 to 6, characterized in that the enclosure (10) contains an induction coil (41) which surrounds the cable (1), and means for supplying this coil with an electric current whose intensity varies with the speed of the shuttle (7). 9 - Appareil d'exploration suivant l'une quelconque des revendications 1 à 8, caractérisé en ce que la navette (7) comporte extérieurement une capacité étanche (39) dont une paroi (40) est déformable élastiquement sous l'effet de la pression extérieure. 9 - exploration apparatus according to any one of claims 1 to 8, characterized in that the shuttle (7) externally comprises a sealed capacity (39) of which a wall (40) is elastically deformable under the effect of pressure outside. 10 - Appareil d'exploration suivant l'une quelconque des revendications 1 à 9, caractérisé en ce que la navette (7) comporte des volets réglables (38) montés rotatifs autour d'un axe horizontal. 10 - An exploration device according to any one of claims 1 to 9, characterized in that the shuttle (7) comprises adjustable flaps (38) rotatably mounted about a horizontal axis.
EP91403302A 1990-12-10 1991-12-06 Underwater exploration apparatus Expired - Lifetime EP0490737B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9015438 1990-12-10
FR9015438A FR2670176B1 (en) 1990-12-10 1990-12-10 UNDERWATER EXPLORATION APPARATUS.

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EP0490737A1 true EP0490737A1 (en) 1992-06-17
EP0490737B1 EP0490737B1 (en) 1994-11-09

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EP (1) EP0490737B1 (en)
DE (1) DE69105104D1 (en)
FR (1) FR2670176B1 (en)

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KR102240126B1 (en) * 2020-02-28 2021-04-14 한국해양과학기술원 Observation system for obtaining various marine surface elements
KR102361654B1 (en) * 2020-09-25 2022-02-11 한국해양과학기술원 Ocean Surface Observation System With Improved Stability
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EP3653482A1 (en) * 2018-11-16 2020-05-20 Ocean Power Technologies, Inc. Subsurface marine battery pack

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FR2670176B1 (en) 1993-03-12
FR2670176A1 (en) 1992-06-12
DE69105104D1 (en) 1994-12-15
US5228406A (en) 1993-07-20
EP0490737B1 (en) 1994-11-09

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