EP0663336A1 - Submersible vehicle - Google Patents
Submersible vehicle Download PDFInfo
- Publication number
- EP0663336A1 EP0663336A1 EP95100111A EP95100111A EP0663336A1 EP 0663336 A1 EP0663336 A1 EP 0663336A1 EP 95100111 A EP95100111 A EP 95100111A EP 95100111 A EP95100111 A EP 95100111A EP 0663336 A1 EP0663336 A1 EP 0663336A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- underwater vehicle
- drive
- drive means
- vehicle according
- propellers
- 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
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/20—Steering equipment
Definitions
- the invention relates to an underwater vehicle, in particular or an underwater drone, with a drive device which comprises a plurality of individual drive means acting in a predetermined working direction, and with a device for steering the underwater vehicle.
- a conventional type of submersible usually has two rudder flaps which form a steering device.
- One of the rudder flaps acts in the vertical direction in order to bring about changes in direction of the fuselage in the pitch plane and the other rudder flap acts in the yaw plane in order to be able to make changes in direction to starboard or port.
- Disadvantages of these known underwater vehicles are the high manufacturing costs due to the complex rudder flap designs and the poor maneuverability at low speeds.
- underwater vehicles with an additional vertical drive or with an additional combined vertical and transverse drive are known. This does indeed improve maneuverability at low speeds; at high speeds, however, vertical maneuverability has proven to be insufficient.
- the high manufacturing costs for the vertical and the transverse drive also have a disadvantageous effect in these known underwater vehicles.
- the manufacturing costs of the underwater vehicles are particularly significant for one-way drones for removing mines, since the drone is destroyed with the mine.
- the device for steering the underwater vehicle consists of a control device which individually controls the drive power of the drive means.
- the advantages of the invention are in particular that neither rudder flaps nor vertical or transverse drives are required to steer the underwater vehicle.
- the underwater vehicle is controlled exclusively by controlling the drive power of the drive means.
- the drive device can be constructed from identical standard components, so that the underwater vehicle according to the invention can be produced at low manufacturing costs.
- the control of the drive power of each individual drive means ensures very good maneuverability even at low speeds, which is particularly important when destroying underwater mines.
- the drive means advantageously act in the straight direction of the underwater vehicle.
- the drive device particularly preferably comprises four drive means, each of which is arranged offset by 90 ° about the longitudinal axis of the underwater vehicle at the rear of the underwater vehicle.
- the underwater vehicle runs in the straight direction with the same drive power of all drive means.
- Course corrections in the pitch or yaw plane can be carried out in a simple manner, for example, by reducing or increasing the driving force of the respective drive means in the corresponding plane.
- the drive means are particularly preferably formed by propellers which are driven in pairs in opposite directions.
- Propeller drives are inexpensive drive means, the drive in pairs in opposite directions causes the screw effects to compensate one another without being influenced by the control device.
- the device for steering the underwater vehicle advantageously controls the speed of the propellers in the case of propeller drives. Influencing the speed of the propellers is the simplest method of individually controlling the drive power of the drive means. Alternatively, however, it is also possible to control the angle of attack of the propeller blades or even to reverse the drive direction of the drive means, or the direction of rotation in the case of a propeller. These measures can further improve the maneuverability of the underwater vehicle at low speeds.
- the drive device comprises three drive means, each offset by 120 ° around the longitudinal axis of the underwater vehicle at the rear of the underwater vehicle are arranged. Compared to the arrangement of four drive devices, one drive means is saved in this embodiment, thus further reducing the manufacturing costs of the underwater vehicle.
- FIG. 1 and 2 show an underwater vehicle 1, in the exemplary embodiment an underwater drone, in a side view and a rear view.
- the underwater vehicle 1 contains a sensor device 2 (for example a sonar or camera device), with the aid of which, for example, anchor mines or ground mines that have not completely sunken can be detected.
- a drive device 3 is provided, which comprises drive means 5 at the stern 7 of the underwater vehicle 1, which in the exemplary embodiment shown are designed as propellers.
- the drive means 5 are controlled by a device 4 for steering the underwater vehicle 1 in order to carry out changes in direction.
- the drive means 5 are each offset by 90 ° around the longitudinal axis 6 of the underwater vehicle 1 at the rear 7 of the underwater vehicle 1.
- the arrows indicate the opposite directions of rotation of the drive means 5.
- two of the propellers are clockwise and two counterclockwise.
- the device for steering the underwater vehicle controls the drive power of the individual drive means 5.
- the drive power of the two starboard drive means 5 is reduced and the drive power of the port drive means 5 is increased.
- the drive power of the lower two or upper two drive means 5 can be controlled in order to bring about changes in direction of the underwater vehicle in the pitch plane.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
Description
Die Erfindung bezieht sich auf ein Unterwasserfahrzeug, insbesondere oder eine Unterwasserdrohne, mit einer Antriebseinrichtung, die eine Mehrzahl von einzelnen in einer vorgebenen Arbeitsrichtung wirkenden Antriebsmitteln umfaßt, und mit einer Einrichtung zum Lenken des Unterwasserfahrzeuges.The invention relates to an underwater vehicle, in particular or an underwater drone, with a drive device which comprises a plurality of individual drive means acting in a predetermined working direction, and with a device for steering the underwater vehicle.
Ein Unterwasserfahrzeug konventioneller Bauart besitzt gewöhnlich zwei Ruderklappen, die eine Einrichtung zum Lenken bilden. Von den Ruderklappen wirkt eine in Vertikalrichtung, um Richtungsänderungen des Rumpfes in Nickebene zu bewirken und die andere Ruderklappe in Gierebene, um Richtungsänderungen nach Steuerbord oder Backbord durchführen zu können. Nachteilig bei diesen bekannten Unterwasserfahrzeugen sind die hohen Herstellkosten durch die aufwendigen Ruderklappenkonstruktionen sowie die schlechte Manövrierfähigkeit bei niedrigen Geschwindigkeiten.A conventional type of submersible usually has two rudder flaps which form a steering device. One of the rudder flaps acts in the vertical direction in order to bring about changes in direction of the fuselage in the pitch plane and the other rudder flap acts in the yaw plane in order to be able to make changes in direction to starboard or port. Disadvantages of these known underwater vehicles are the high manufacturing costs due to the complex rudder flap designs and the poor maneuverability at low speeds.
Es sind darüber hinaus Unterwasserfahrzeuge mit einem zusätzlichen Vertikalantrieb oder mit einem zusätzlichen kombinierten Vertikal- und Querantrieb bekannt. Hierdurch wird zwar eine verbesserte Manövrierfähigkeit bei niedrigen Geschwindigkeiten erzielt; bei hohen Geschwindigkeiten hat sich die Manövrierfähigkeit in Vertikalrichtung jedoch als ungenügend erwiesen. Nachteilig wirken sich zudem auch bei diesen bekannten Unterwasserfahrzeugen die hohen Herstellkosten für den Vertikal- und den Querantrieb aus.In addition, underwater vehicles with an additional vertical drive or with an additional combined vertical and transverse drive are known. This does indeed improve maneuverability at low speeds; at high speeds, however, vertical maneuverability has proven to be insufficient. The high manufacturing costs for the vertical and the transverse drive also have a disadvantageous effect in these known underwater vehicles.
Die Herstellkosten der Unterwasserfahrzeuge fallen insbesondere bei Einwegdrohnen zur Beseitigung von Minen stark ins Gewicht, da die Drohne mit der Mine zerstört wird.The manufacturing costs of the underwater vehicles are particularly significant for one-way drones for removing mines, since the drone is destroyed with the mine.
Aufgabe der vorliegenden Erfindung ist es daher, ein Unterwasserfahrzeug zu schaffen, welches sich durch geringe Herstellkosten und gute Manövriereigenschaften bei möglichst allen und insbesondere niedrigen Geschwindigkeiten auszeichnet.It is therefore an object of the present invention to provide an underwater vehicle which is characterized by low manufacturing costs and good maneuvering properties at all speeds and in particular at low speeds.
Diese Aufgabe wird beim Unterwasserfahrzeug der eingangs genannten Art erfindungsgemäß dadurch gelöst, daß die Einrichtung zum Lenken des Unterwasserfahrzeuges aus einer Steuereinrichtung besteht, die die Antriebsleistung der Antriebsmittel einzeln steuert.This object is achieved according to the invention in the underwater vehicle of the type mentioned at the outset in that the device for steering the underwater vehicle consists of a control device which individually controls the drive power of the drive means.
Die Vorteile der Erfindung liegen insbesondere darin, daß zum Lenken des Unterwasserfahrzeuges weder Ruderklappen noch Vertikal- oder Querantriebe erforderlich sind. Die Lenkung des Unterwasserfahrzeuges erfolgt ausschließlich durch Steuerung der Antriebsleistung der Antriebsmittel. Die Antriebseinrichtung kann aus identischen Standardkomponenten aufgebaut werden, so daß das erfindungsgemäße Unterwasserfahrzeug mit niedrigen Herstellkosten produzierbar ist. Die Steuerung der Antriebsleistung jedes einzelnen Antriebsmittels sorgt für eine sehr gute Manövrierfähigkeit auch bei geringen Geschwindigkeiten, die insbesondere bei der Vernichtung von Unterwasserminen wichtig ist.The advantages of the invention are in particular that neither rudder flaps nor vertical or transverse drives are required to steer the underwater vehicle. The underwater vehicle is controlled exclusively by controlling the drive power of the drive means. The drive device can be constructed from identical standard components, so that the underwater vehicle according to the invention can be produced at low manufacturing costs. The control of the drive power of each individual drive means ensures very good maneuverability even at low speeds, which is particularly important when destroying underwater mines.
Vorteilhafterweise wirken die Antriebsmittel jeweils in Geradeausrichtung des Unterwasserfahrzeuges.The drive means advantageously act in the straight direction of the underwater vehicle.
Besonders bevorzugt umfaßt die Antriebseinrichtung vier Antriebsmittel, die jeweils um 90° um die Längsachse des Unterwasserfahrzeuges versetzt am Heck des Unterwasserfahrzeuges angeordnet sind. Bei dieser augenblicklich besonders bevorzugten Ausführungsform der vorliegenden Erfindung läuft das Unterwasserfahrzeug bei gleicher Antriebsleistung aller Antriebsmittel in Geradeausrichtung. Kurskorrekturen in Nick- bzw. Gierebene können beispielsweise durch Herabsetzung bzw. Erhöhung der Antriebskraft der jeweiligen Antriebsmittel in der entsprechenden Ebene auf einfache Weise durchgeführt werden.The drive device particularly preferably comprises four drive means, each of which is arranged offset by 90 ° about the longitudinal axis of the underwater vehicle at the rear of the underwater vehicle. In this currently particularly preferred embodiment of the present invention, the underwater vehicle runs in the straight direction with the same drive power of all drive means. Course corrections in the pitch or yaw plane can be carried out in a simple manner, for example, by reducing or increasing the driving force of the respective drive means in the corresponding plane.
Besonders bevorzugt werden die Antriebsmittel von Propellern gebildet, die paarweise gegenläufig angetrieben werden. Propellerantriebe sind preiswerte Antriebsmittel, deren paarweise gegenläufiger Antrieb bewirkt, daß sich die Schraubeneffekte ohne Beeinflussung durch die Steuereinrichtung gegenseitig kompensieren.The drive means are particularly preferably formed by propellers which are driven in pairs in opposite directions. Propeller drives are inexpensive drive means, the drive in pairs in opposite directions causes the screw effects to compensate one another without being influenced by the control device.
Werden die Antriebsmittel durch Propeller gebildet, so steuert die Einrichtung zum Lenken des Unterwasserfahrzeuges vorteilhafterweise bei Propellerantrieben die Drehzahl der Propeller. Die Beeinflussung der Drehzahl der Propeller ist die einfachste Methode, die Antriebsleistung der Antriebsmittel einzeln zu steuern. Alternativ hierzu ist es allerdings auch möglich, die Anstellwinkel der Propellerflügel zu steuern oder sogar die Antriebsrichtung der Antriebsmittel, bei einem Propeller die Drehrichtung, umzukehren. Durch diese Maßnahmen kann die Manövrierfähigkeit des Unterwasserfahrzeuges bei niedrigen Geschwindigkeiten weiter verbessert werden.If the drive means are formed by propellers, the device for steering the underwater vehicle advantageously controls the speed of the propellers in the case of propeller drives. Influencing the speed of the propellers is the simplest method of individually controlling the drive power of the drive means. Alternatively, however, it is also possible to control the angle of attack of the propeller blades or even to reverse the drive direction of the drive means, or the direction of rotation in the case of a propeller. These measures can further improve the maneuverability of the underwater vehicle at low speeds.
Bei einer alternativen Ausgestaltung der Erfindung umfaßt die Antriebseinrichtung drei Antriebsmittel, die jeweils um 120° um die Längsachse des Unterwasserfahrzeuges herum versetzt am Heck des Unterwasserfahrzeuges angeordnet sind. Gegenüber der Anordnung von vier Antriebseinrichtungen wird bei dieser Ausführungsform ein Antriebsmittel eingespart, die Herstellungskosten des Unterwasserfahrzeuges somit weiter vermindert.In an alternative embodiment of the invention, the drive device comprises three drive means, each offset by 120 ° around the longitudinal axis of the underwater vehicle at the rear of the underwater vehicle are arranged. Compared to the arrangement of four drive devices, one drive means is saved in this embodiment, thus further reducing the manufacturing costs of the underwater vehicle.
Im folgenden wird eine Ausführungsform der Erfindung anhand der Zeichnungen beschrieben. Es zeigen:
- Fig. 1
- eine Seitenansicht eines Unterwasserfahrzeuges;
- Fig. 2
- eine Heckansicht eines Unterwasserfahrzeuges.
- Fig. 1
- a side view of an underwater vehicle;
- Fig. 2
- a rear view of an underwater vehicle.
In den Figuren 1 und 2 ist ein Unterwasserfahrzeug 1, im Ausführungsbeispiel eine Unterwasserdrohne, in einer Seitenansicht und einer Heckansicht dargestellt.1 and 2 show an underwater vehicle 1, in the exemplary embodiment an underwater drone, in a side view and a rear view.
Das Unterwasserfahrzeug 1 enthält im Bugbereich eine Sensoreinrichtung 2 (beispielsweise eine Sonar- oder Kameraeinrichtung), mit deren Hilfe beispielsweise Ankertauminen oder nicht vollständig eingesunkene Grundminen detektiert werden können. Ferner ist eine Antriebseinrichtung 3 vorgesehen, die Antriebsmittel 5 am Heck 7 des Unterwasserfahrzeuges 1 umfaßt, die in dem dargestellten Ausführungsbeispiel als Propeller ausgebildet sind. Die Antriebsmittel 5 werden von einer Einrichtung 4 zum Lenken des Unterwasserfahrzeuges 1 gesteuert, um Richtungsänderungen durchzuführen.In the bow area, the underwater vehicle 1 contains a sensor device 2 (for example a sonar or camera device), with the aid of which, for example, anchor mines or ground mines that have not completely sunken can be detected. Furthermore, a
Insbesondere in Figur 2 ist zu erkennen, daß die Antriebsmittel 5 jeweils um 90° um die Längsachse 6 des Unterwasserfahrzeuges 1 herum versetzt am Heck 7 des Unterwasserfahrzeuges 1 angeordnet sind. Durch die Pfeile werden die paarweise gegenläufigen Drehrichtungen der Antriebsmittel 5 angedeutet. Zur gegenseitigen Kompensation von Schraubeneffekten sind zwei der Propeller rechtsdrehend und zwei linksdrehend ausgebildet.In particular in Figure 2 it can be seen that the drive means 5 are each offset by 90 ° around the
Zur Stabilisierung des Unterwasserfahrzeuges ist es zweckmäßig, Leitflächen 8 vorzusehen, die einen guten Geradeauslauf des Unterwasserfahrzeuges 1 sicherstellen.To stabilize the underwater vehicle, it is expedient to provide
Die Einrichtung zum Lenken des Unterwasserfahrzeuges steuert die Antriebsleistung der einzelnen Antriebsmittel 5. Für eine Kursänderung in der Gierebene nach Steuerbord wird die Antriebsleistung der beiden steuerbordseitigen Antriebsmittel 5 vermindert und die Antriebsleistung der Backbord-Antriebsmittel 5 erhöht. Analog hierzu kann die Antriebsleistung der unteren beiden bzw. oberen beiden Antriebsmittel 5 gesteuert werden, um Richtungsänderungen des Unterwasserfahrzeuges in Nickebene zu bewirken.The device for steering the underwater vehicle controls the drive power of the individual drive means 5. For a course change in the yaw plane to starboard, the drive power of the two starboard drive means 5 is reduced and the drive power of the port drive means 5 is increased. Analogously to this, the drive power of the lower two or upper two drive means 5 can be controlled in order to bring about changes in direction of the underwater vehicle in the pitch plane.
Claims (12)
dadurch gekennzeichnet, daß die Einrichtung (4) zum Lenken des Unterwasserfahrzeuges (1) aus einer Steuereinrichtung besteht, die die Antriebsleistung der Antriebsmittel (5) einzeln steuert.Underwater vehicle, in particular underwater drone, with a drive device (3) which comprises a plurality of individual drive means (5) acting in a predetermined drive direction, and with a device (4) for steering the underwater vehicle,
characterized in that the device (4) for steering the underwater vehicle (1) consists of a control device which individually controls the drive power of the drive means (5).
dadurch gekennzeichnet, daß die Antriebsmittel (5) jeweils in Geradeausrichtung wirken.Underwater vehicle according to claim 1,
characterized in that the drive means (5) each act in a straight line.
dadurch gekennzeichnet, daß die Antriebseinrichtung (3) drei Antriebsmittel umfaßt.Underwater vehicle according to claim 1 or 2,
characterized in that the drive device (3) comprises three drive means.
dadurch gekennzeichnet, daß die Antriebsmittel (5) jeweils um 120° um die Längsachse (6) des Unterwasserfahrzeuges (1) herum versetzt am Heck (7) des Unterwasserfahrzeuges (1) angeordnet sind.Underwater vehicle according to claim 3,
characterized in that the drive means (5) are each offset by 120 ° around the longitudinal axis (6) of the underwater vehicle (1) at the rear (7) of the underwater vehicle (1).
dadurch gekennzeichnet, daß die Antriebseinrichtung (3) vier Antriebsmittel (5) umfaßt.Underwater vehicle according to one of the preceding claims,
characterized in that the drive device (3) comprises four drive means (5).
dadurch gekennzeichnet, daß die Antriebsmittel (5) jeweils um 90° um die Längsachse (6) des Unterwasserfahrzeuges (1) herum versetzt am Heck (7) des Unterwasserfahrzeuges (1) angeordnet sind.Underwater vehicle according to claim 5,
characterized in that the drive means (5) are each offset by 90 ° about the longitudinal axis (6) of the underwater vehicle (1) at the rear (7) of the underwater vehicle (1).
dadurch gekennzeichnet, daß die Antriebsmittel (5) von Propellern gebildet werden.Underwater vehicle according to one of the preceding claims,
characterized in that the drive means (5) are formed by propellers.
dadurch gekennzeichnet, daß die Antriebsmittel (5) paarweise gegenläufig angetriebene Propeller sind.Underwater vehicle according to claim 7,
characterized in that the drive means (5) are propellers driven in opposite directions in pairs.
dadurch gekennzeichnet, daß die Einrichtung (4) zum Lenken des Unterwasserfahrzeuges (1) die Drehzahl der Propeller steuert.Underwater vehicle according to claim 7 or 8,
characterized in that the device (4) for steering the underwater vehicle (1) controls the speed of the propellers.
dadurch gekennzeichnet, daß die Einrichtung (4) zum Lenken des Unterwasserfahrzeuges (1) die Anstellwinkel der Propellerflügel steuert.Underwater vehicle according to one of claims 7 to 9,
characterized in that the device (4) for steering the underwater vehicle (1) controls the angle of attack of the propeller blades.
dadurch gekennzeichnet, daß die Antriebsrichtung der Antriebsmittel (5) umkehrbar ist.Underwater vehicle according to one of the preceding claims,
characterized in that the drive direction of the drive means (5) is reversible.
dadurch gekennzeichnet, daß die Einrichtung (4) zum Lenken des Unterwasserfahrzeugs die Drehrichtung der Propeller steuert.Underwater vehicle according to one of claims 7 to 11,
characterized in that the means (4) for steering the underwater vehicle controls the direction of rotation of the propellers.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4401309A DE4401309A1 (en) | 1994-01-18 | 1994-01-18 | Underwater vehicle |
| DE4401309 | 1994-01-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0663336A1 true EP0663336A1 (en) | 1995-07-19 |
| EP0663336B1 EP0663336B1 (en) | 1998-07-15 |
Family
ID=6508155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP95100111A Expired - Lifetime EP0663336B1 (en) | 1994-01-18 | 1995-01-05 | Submersible vehicle |
Country Status (7)
| Country | Link |
|---|---|
| EP (1) | EP0663336B1 (en) |
| KR (1) | KR100203757B1 (en) |
| DE (2) | DE4401309A1 (en) |
| DK (1) | DK0663336T3 (en) |
| ES (1) | ES2118448T3 (en) |
| NO (1) | NO950169L (en) |
| SG (1) | SG49003A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012037922A3 (en) * | 2010-08-23 | 2012-06-07 | Baestel Daniel | Underwater vehicle |
| DE102010035383B4 (en) * | 2010-08-23 | 2017-03-23 | Daniel Bästel | Underwater vehicle |
| CN109760808A (en) * | 2019-03-12 | 2019-05-17 | 中国科学院沈阳自动化研究所 | Long voyage Autonomous Underwater Vehicle low-power consumption transfer |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2230953B2 (en) * | 2002-07-16 | 2006-06-16 | Universidad Politecnica De Madrid | ROBOT PARALLEL TREPADOR AND SLIDING FOR WORK ON STRUCTURES AND SURFACES. |
| KR101115124B1 (en) * | 2009-07-09 | 2012-02-24 | 대우조선해양 주식회사 | An Unmanned Underwater Vehicle with Retractable Type Rudders |
| KR101605112B1 (en) | 2009-07-21 | 2016-03-22 | 대우조선해양 주식회사 | Method and Apparatus for Removing Mines in the Sea |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3101066A (en) * | 1961-07-14 | 1963-08-20 | Frederick R Haselton | Submarine hydrodynamic control system |
| US3752103A (en) * | 1972-01-24 | 1973-08-14 | Us Navy | Control system for submersibles to minimize bottom sediment disturbances |
| EP0215629A2 (en) * | 1985-09-10 | 1987-03-25 | Ametek/Straza | Propeller system with electronically controlled cyclic and collective blade |
| EP0385827A1 (en) * | 1989-02-28 | 1990-09-05 | Societe Eca | Propulsion device for a submarine vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3148650A (en) * | 1961-12-01 | 1964-09-15 | Gen Dynamics Corp | Submarine vessel |
| FR2288031A1 (en) * | 1971-09-21 | 1976-05-14 | France Etat | UNDERWATER MACHINE CONTAINING AN AUTONOMOUS SOURCE OF ENERGY |
| FR2167396A5 (en) * | 1972-01-14 | 1973-08-24 | Doris Cie Gle | |
| FR2181486B1 (en) * | 1972-04-26 | 1977-08-26 | Bastide Paul | |
| DE3128268A1 (en) * | 1981-07-17 | 1983-02-03 | Erno-Raumfahrttechnik Gmbh, 2800 Bremen | Underwater vessel |
-
1994
- 1994-01-18 DE DE4401309A patent/DE4401309A1/en not_active Ceased
-
1995
- 1995-01-05 DE DE59502791T patent/DE59502791D1/en not_active Expired - Fee Related
- 1995-01-05 SG SG1996005095A patent/SG49003A1/en unknown
- 1995-01-05 ES ES95100111T patent/ES2118448T3/en not_active Expired - Lifetime
- 1995-01-05 EP EP95100111A patent/EP0663336B1/en not_active Expired - Lifetime
- 1995-01-05 DK DK95100111T patent/DK0663336T3/en active
- 1995-01-17 NO NO950169A patent/NO950169L/en unknown
- 1995-01-18 KR KR1019950000744A patent/KR100203757B1/en not_active IP Right Cessation
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3101066A (en) * | 1961-07-14 | 1963-08-20 | Frederick R Haselton | Submarine hydrodynamic control system |
| US3752103A (en) * | 1972-01-24 | 1973-08-14 | Us Navy | Control system for submersibles to minimize bottom sediment disturbances |
| EP0215629A2 (en) * | 1985-09-10 | 1987-03-25 | Ametek/Straza | Propeller system with electronically controlled cyclic and collective blade |
| EP0385827A1 (en) * | 1989-02-28 | 1990-09-05 | Societe Eca | Propulsion device for a submarine vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012037922A3 (en) * | 2010-08-23 | 2012-06-07 | Baestel Daniel | Underwater vehicle |
| DE102010035383B4 (en) * | 2010-08-23 | 2017-03-23 | Daniel Bästel | Underwater vehicle |
| CN109760808A (en) * | 2019-03-12 | 2019-05-17 | 中国科学院沈阳自动化研究所 | Long voyage Autonomous Underwater Vehicle low-power consumption transfer |
| CN109760808B (en) * | 2019-03-12 | 2023-12-22 | 中国科学院沈阳自动化研究所 | Low-power-consumption steering device of long-range autonomous underwater vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| NO950169D0 (en) | 1995-01-17 |
| DE4401309A1 (en) | 1995-07-20 |
| SG49003A1 (en) | 1998-05-18 |
| DK0663336T3 (en) | 1999-04-19 |
| KR950031776A (en) | 1995-12-20 |
| KR100203757B1 (en) | 1999-06-15 |
| NO950169L (en) | 1995-07-19 |
| DE59502791D1 (en) | 1998-08-20 |
| EP0663336B1 (en) | 1998-07-15 |
| ES2118448T3 (en) | 1998-09-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE3222054C2 (en) | ||
| DE2718831C2 (en) | Drive and control device for water vehicles | |
| DE3713176A1 (en) | Sailing boat with winged keel | |
| DE2834015B1 (en) | Rowing training for ships | |
| EP0663336A1 (en) | Submersible vehicle | |
| DE2918752A1 (en) | REAR BRAKE DEVICE | |
| DE3010903C2 (en) | ||
| DE2528073A1 (en) | PROCEDURE FOR THE INDEPENDENT POSITIONING OF A SHIP | |
| DE2918751C2 (en) | Rudder brake device | |
| DE3303554C2 (en) | ||
| DE2709666C2 (en) | 5-part gear for adjusting a main rudder with fin for watercraft | |
| DE1994275U (en) | CONTROL DEVICE FOR SHIPS. | |
| DE566902C (en) | Device for propelling and steering water vehicles | |
| EP1300332A1 (en) | Navigation arrangement, especially for cruise ships | |
| EP1145951A2 (en) | Watercraft | |
| DE2218622A1 (en) | OARS AND ANCHOR RIBS FOR WATER VEHICLES | |
| DE2154903C3 (en) | Device for driving and controlling hovercraft with ground effect | |
| DE806098C (en) | Oars for ships | |
| DE102023103813B3 (en) | Self-steering device for watercraft | |
| DE3731022A1 (en) | Sailing yacht, yawl, or the like | |
| DE10344960B3 (en) | Control surface arrangement for submarine has an angled side control surfaces above longitudinal axis of hull and vertical fin below hull for depth control surface | |
| AT205368B (en) | Rudders for ships | |
| DE1025291B (en) | Rudder for ships | |
| DE2045252A1 (en) | Underwater vehicle | |
| DE3246369A1 (en) | Brake and control system for watercraft of any size and type of construction with or without separate propulsion independently of or combined with the steering gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
| AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): BE DE DK ES FR GB IT NL SE |
|
| 17P | Request for examination filed |
Effective date: 19951018 |
|
| 17Q | First examination report despatched |
Effective date: 19961210 |
|
| GRAG | Despatch of communication of intention to grant |
Free format text: ORIGINAL CODE: EPIDOS AGRA |
|
| GRAG | Despatch of communication of intention to grant |
Free format text: ORIGINAL CODE: EPIDOS AGRA |
|
| GRAH | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOS IGRA |
|
| GRAH | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOS IGRA |
|
| GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
| AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): BE DE DK ES FR GB IT NL SE |
|
| GBT | Gb: translation of ep patent filed (gb section 77(6)(a)/1977) |
Effective date: 19980716 |
|
| REF | Corresponds to: |
Ref document number: 59502791 Country of ref document: DE Date of ref document: 19980820 |
|
| REG | Reference to a national code |
Ref country code: ES Ref legal event code: FG2A Ref document number: 2118448 Country of ref document: ES Kind code of ref document: T3 |
|
| ET | Fr: translation filed | ||
| REG | Reference to a national code |
Ref country code: DK Ref legal event code: T3 |
|
| PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
| STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
| 26N | No opposition filed | ||
| REG | Reference to a national code |
Ref country code: GB Ref legal event code: IF02 |
|
| NLS | Nl: assignments of ep-patents |
Owner name: ATLAS ELEKTRONIC GMBH |
|
| REG | Reference to a national code |
Ref country code: ES Ref legal event code: PC2A |
|
| REG | Reference to a national code |
Ref country code: FR Ref legal event code: TP |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED. Effective date: 20050105 |
|
| REG | Reference to a national code |
Ref country code: GB Ref legal event code: 732E |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: SE Payment date: 20060112 Year of fee payment: 12 Ref country code: DE Payment date: 20060112 Year of fee payment: 12 |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: NL Payment date: 20060113 Year of fee payment: 12 Ref country code: FR Payment date: 20060113 Year of fee payment: 12 Ref country code: DK Payment date: 20060113 Year of fee payment: 12 |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: GB Payment date: 20060120 Year of fee payment: 12 |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: ES Payment date: 20060130 Year of fee payment: 12 |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: BE Payment date: 20060207 Year of fee payment: 12 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070106 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070801 |
|
| EUG | Se: european patent has lapsed | ||
| GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20070105 |
|
| NLV4 | Nl: lapsed or anulled due to non-payment of the annual fee |
Effective date: 20070801 |
|
| REG | Reference to a national code |
Ref country code: DK Ref legal event code: EBP |
|
| REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20070930 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070105 |
|
| BERE | Be: lapsed |
Owner name: *ATLA ELEKTRONIK G.M.B.H. Effective date: 20070131 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070131 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NL Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070801 Ref country code: DK Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070131 |
|
| REG | Reference to a national code |
Ref country code: ES Ref legal event code: FD2A Effective date: 20070108 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070131 |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20060131 Year of fee payment: 12 |
|
| PGRI | Patent reinstated in contracting state [announced from national office to epo] |
Ref country code: IT Effective date: 20080301 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: ES Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070108 |
|
| PGRI | Patent reinstated in contracting state [announced from national office to epo] |
Ref country code: IT Effective date: 20080301 |