EP0663336B1 - Unterwasserfahrzeug - Google Patents

Unterwasserfahrzeug Download PDF

Info

Publication number
EP0663336B1
EP0663336B1 EP95100111A EP95100111A EP0663336B1 EP 0663336 B1 EP0663336 B1 EP 0663336B1 EP 95100111 A EP95100111 A EP 95100111A EP 95100111 A EP95100111 A EP 95100111A EP 0663336 B1 EP0663336 B1 EP 0663336B1
Authority
EP
European Patent Office
Prior art keywords
underwater vessel
underwater
driving means
vessel according
steering
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
EP95100111A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0663336A1 (de
Inventor
Ludwig Messmer
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.)
Atlas Elektronik GmbH
Original Assignee
STN Atlas Elektronik GmbH
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 STN Atlas Elektronik GmbH filed Critical STN Atlas Elektronik GmbH
Publication of EP0663336A1 publication Critical patent/EP0663336A1/de
Application granted granted Critical
Publication of EP0663336B1 publication Critical patent/EP0663336B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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 an underwater drone, with a drive device that a plurality of individual, in one includes predetermined drive direction acting drive means, and with a Device for steering the watercraft in pitch and yaw plane.
  • a conventional type of underwater vehicle usually has two rudder flaps, which form a device for steering.
  • One of the rudder flaps works in the vertical direction in order to bring about changes in direction of the fuselage in the pitch plane and the other rudder flap in yaw plane to change direction after To be able to perform on the starboard or port side.
  • a disadvantage of these known Underwater vehicles are the high manufacturing costs due to the complex rudder flap designs as well as poor maneuverability at low speeds.
  • EP-A-0 215 629 is a device for steering an underwater vehicle is known, arranged on a concentric to the longitudinal axis of the vehicle Drive ring adjustable wing are arranged. For steering the vehicle are the adjustable wing around their perpendicular to the longitudinal axis of the vehicle Swivel axes swiveled. This device for steering the underwater vehicle is complicated and expensive to manufacture.
  • the object of the present invention is therefore to provide an underwater vehicle create, which is characterized by low manufacturing costs and good maneuverability distinguishes at all possible and especially low speeds.
  • the device for steering the underwater vehicle consists of a control device designed to maintain or change of the course in pitch or yaw level only the drive power of the drive means controls individually.
  • the advantages of the invention are in particular that for steering the underwater vehicle neither rudder flaps nor vertical or transverse drives required are.
  • the underwater vehicle is controlled exclusively by Control of the drive power of the drive means.
  • the drive device can be constructed from identical standard components, so that the invention Underwater vehicle can be produced with low manufacturing costs.
  • the Controlling the drive power of each individual drive means ensures a very good maneuverability even at low speeds, especially at the destruction of underwater mines is important.
  • the drive means each act in the straight direction of the Underwater vehicle.
  • the drive device particularly preferably comprises four drive means, each offset by 90 ° around the longitudinal axis of the underwater vehicle at the rear of the Are arranged underwater vehicle.
  • the underwater vehicle runs with the same drive power of all drive means in a straight line.
  • Course corrections in the pitch or yaw level can be reduced, for example or increase the driving force of the respective drive means in the corresponding Level can be done easily.
  • the drive means are particularly preferably formed by propellers, in pairs are driven in opposite directions.
  • Propeller drives are inexpensive drive means, their pairwise opposite drive causes the screw effects Compensate for each other without being influenced by the control device.
  • the device controls the Steering the underwater vehicle advantageously with propeller drives Speed of the propellers. Influencing the speed of the propellers is the easiest Method of individually controlling the drive power of the drive means.
  • the drive device comprises three drive means, each 120 ° around the longitudinal axis of the underwater vehicle shifted around at the rear of the underwater vehicle are arranged. Opposite the arrangement of four drive devices becomes a drive means in this embodiment saved the manufacturing costs of the underwater vehicle thus further reduced.
  • Figures 1 and 2 is an underwater vehicle 1, in the embodiment an underwater drone, in a side view and shown a rear view.
  • the underwater vehicle 1 contains a sensor device in the bow area 2 (for example a sonar or camera device), with their Help, for example, anchor mines or not fully sunken Basic mines can be detected. Furthermore, a drive device 3 provided the drive means 5 at the rear 7 of the Underwater vehicle 1 includes, in the illustrated embodiment are designed as propellers. The drive means 5 are from a device 4 for steering the underwater vehicle 1 controlled to make changes of direction.
  • a sensor device in the bow area 2 for example a sonar or camera device
  • Help for example, anchor mines or not fully sunken Basic mines can be detected.
  • a drive device 3 provided the drive means 5 at the rear 7 of the Underwater vehicle 1 includes, in the illustrated embodiment are designed as propellers.
  • the drive means 5 are from a device 4 for steering the underwater vehicle 1 controlled to make changes of direction.
  • baffles 8 the good straight running of the underwater vehicle 1 ensure.
  • the device for steering the underwater vehicle controls the drive power of the individual drive means 5.
  • the propulsion power of the two starboard-side propulsion means 5 decreased and the propulsion power the port drive means 5 increased.
  • the drive power of the lower two or upper two drive means 5 can be controlled to change the direction of the underwater vehicle to effect in pitch level.

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)
EP95100111A 1994-01-18 1995-01-05 Unterwasserfahrzeug Expired - Lifetime EP0663336B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4401309A DE4401309A1 (de) 1994-01-18 1994-01-18 Unterwasserfahrzeug
DE4401309 1994-01-18

Publications (2)

Publication Number Publication Date
EP0663336A1 EP0663336A1 (de) 1995-07-19
EP0663336B1 true EP0663336B1 (de) 1998-07-15

Family

ID=6508155

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95100111A Expired - Lifetime EP0663336B1 (de) 1994-01-18 1995-01-05 Unterwasserfahrzeug

Country Status (7)

Country Link
EP (1) EP0663336B1 (ko)
KR (1) KR100203757B1 (ko)
DE (2) DE4401309A1 (ko)
DK (1) DK0663336T3 (ko)
ES (1) ES2118448T3 (ko)
NO (1) NO950169L (ko)
SG (1) SG49003A1 (ko)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2230953B2 (es) * 2002-07-16 2006-06-16 Universidad Politecnica De Madrid Robot paralelo trepador y deslizante para trabajos en estructuras y superficies.
KR101115124B1 (ko) * 2009-07-09 2012-02-24 대우조선해양 주식회사 출몰식 방향타를 가지는 무인잠수정
KR101605112B1 (ko) 2009-07-21 2016-03-22 대우조선해양 주식회사 수중 기뢰 제거 방법 및 장치
DE102010035383B4 (de) * 2010-08-23 2017-03-23 Daniel Bästel Unterwasserfahrzeug
WO2012037922A2 (de) * 2010-08-23 2012-03-29 Baestel Daniel Unterwasserfahrzeug
CN109760808B (zh) * 2019-03-12 2023-12-22 中国科学院沈阳自动化研究所 长航程自主水下航行器低功耗转向装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3101066A (en) * 1961-07-14 1963-08-20 Frederick R Haselton Submarine hydrodynamic control system
US3148650A (en) * 1961-12-01 1964-09-15 Gen Dynamics Corp Submarine vessel
FR2288031A1 (fr) * 1971-09-21 1976-05-14 France Etat Engin sous-marin comportant une source d'energie autonome
FR2167396A5 (ko) * 1972-01-14 1973-08-24 Doris Cie Gle
US3752103A (en) * 1972-01-24 1973-08-14 Us Navy Control system for submersibles to minimize bottom sediment disturbances
FR2181486B1 (ko) * 1972-04-26 1977-08-26 Bastide Paul
DE3128267A1 (de) * 1981-07-17 1983-02-03 Erno-Raumfahrttechnik Gmbh, 2800 Bremen Antriebseinheit fuer unterwasserfahrzeuge
US4648345A (en) * 1985-09-10 1987-03-10 Ametek, Inc. Propeller system with electronically controlled cyclic and collective blade pitch
FR2643609A1 (fr) * 1989-02-28 1990-08-31 Eca Dispositif propulseur pour vehicule sous-marin

Also Published As

Publication number Publication date
DE59502791D1 (de) 1998-08-20
DK0663336T3 (da) 1999-04-19
KR950031776A (ko) 1995-12-20
ES2118448T3 (es) 1998-09-16
NO950169D0 (no) 1995-01-17
DE4401309A1 (de) 1995-07-20
SG49003A1 (en) 1998-05-18
KR100203757B1 (ko) 1999-06-15
EP0663336A1 (de) 1995-07-19
NO950169L (no) 1995-07-19

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