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
  • B63G7/00—Mine-sweeping; Vessels characterised thereby
  • B63G7/02—Mine-sweeping means, Means for destroying mines
• • 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
  • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
• • 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
  • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
  • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
  • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

• the present invention relates to the field of the destruction of underwater objects likely to present a danger to navigation, for example mines.
• mines There are two main types of mines: - bottom mines which lie at the bottom of the water, and
• the destruction of bottom mines is carried out by depositing an explosive charge called a "military charge" in the immediate vicinity of the underwater object and explosion.
• amilitary charge an explosive charge
• This way of operating requires locating the mine and then bringing the military charge nearby and finally causing the explosion, as opposed to mine dredging which uses magnetic and / or mechanical means to trigger the mines or cut their orin.
• the known methods for destroying a bottom submarine mine include a step of detecting and / or identifying the mine and a step of destroying the mine by means of a high explosive charge, for example order of 50 to 100 kgs, deposited at a distance of a few meters from the mine to be destroyed, using an underwater vehicle, generally remote-controlled.
• the mine After having carried out the recovery of the underwater vehicle on board a surface mine-hunting vessel, the mine is destroyed by causing the charge to explode, the shock wave of which causes the explosion of mine by influence. Orin mines are destroyed by a similar process of detection and / or identification which is followed by a step consisting in hanging on the rope a pyrotechnic shear which is put in place by means of an underwater vehicle remotely controlled or f loguided.
• the pyrotechnic actuation of the shears is triggered by remote control from the surface vessel. The mine rises to the surface and can be destroyed by cannon.
• the object of the present invention is to provide a consumable vehicle for destroying underwater objects, capable of locating and destroying more precise and more reliable.
• the device according to the invention is intended for the destruction of underwater objects.
• the device is of the type comprising a first part provided with propulsion means and a second part provided with an attack means, the second part being able to pivot relative to the first part along an axis, so that the device can approach an underwater object in different directions.
• the second part comprises at least one sensor means capable of detecting an underwater object, so that the attack means and the sensor means are oriented similarly with respect to an underwater object.
• the attack means is positioned correctly with respect to the underwater object as soon as it is located, hence better efficiency.
• the attack means can, if necessary, be repositioned while maintaining detection.
• the device comprises means for pivoting the second part relative to the first part, the pivoting means being provided with at least one motor. We thus precisely control the orientation of the second part.
• the pivoting means are provided with at least one geared motor.
• the second part comprises at least one means for observing underwater objects and / or at least one means for identifying underwater objects.
• the second part comprises at least one means for estimating the distance relative to an underwater object and / or at least one means for classifying underwater objects.
• the second part comprises at least one means of remote communication with a support means, such as a surface ship or an aircraft.
• the means of communication may include an acoustic transducer.
• the device comprises at least one database relating to underwater objects.
• the second part comprises at least one means of consulting a database located remotely and relating to underwater objects.
• the device comprises at least one means of developing an attack strategy according to the type of an object under- marine.
• the device comprises at least one means for controlling the pivoting of the second part capable of finding the most favorable position for an acoustic transmission of data to a support means, such as a surface vessel.
• the invention also relates to a method of destroying underwater objects, in which the device moves towards an underwater object by means of propulsion provided in a first part, and angularly directs a second part provided with at least one attack means and at least one sensor means so that the second part is suitably positioned relative to the underwater object independently of the positioning of the first part.
• the mine hunter is generally a surface vessel, but can also be an aircraft. In the latter case, a relay on the surface of the water makes it possible to transform the acoustic signals emitted by the underwater vehicle into radio or optical or electrical signals, for their dispatch to the aircraft.
• the military charge will generally be a hollow charge, the explosion of which produces a main effect along an axis, hence the importance of positioning in relation to the underwater object to be destroyed, all the more so since each type of mine has more sensitive or fragile areas than others to an external explosion.
• FIG. 1 is a longitudinal sectional view along a vertical plane of the underwater vehicle of Figure 3;
• FIG. 2 is a longitudinal sectional view along a horizontal plane of the underwater vehicle of Figure 3;
• FIG. 3 is a perspective view of an underwater vehicle according to one embodiment of the invention.
• the underwater vehicle comprises a front end 1 of generally hemispherical shape, a rear end 2 of generally truncated ogival shape and an area central 3 of generally cylindrical shape.
• the underwater vehicle is divided into two parts articulated with respect to each other, a first part 4 formed by the rear end 2 and the central zone 3.
• the rear part 4 is provided with propulsion means under the shape of four faired propellers 5 and stabilization means in the form of four retractable fins 6 arranged in a cross with the propellers 5 regularly distributed between the fins 6.
• propulsion means under the shape of four faired propellers 5
• stabilization means in the form of four retractable fins 6 arranged in a cross with the propellers 5 regularly distributed between the fins 6.
• FIG. 1 the lower fin 6 is seen in the deployed position, the upper fin 6 being in the retracted position and therefore not visible.
• FIG. 2 for the left and right ailerons 6.
• the rear part 4 also optionally includes a protrusion 7 of generally cylindrical shape and extending the rear end 2 towards the rear.
• a protuberance 7 In the protuberance 7, is disposed a coil 7a of optical fiber capable of taking place during the movement of the underwater vehicle and allowing a connection with the vessel or the helicopter which has dropped the underwater vehicle.
• a vertical pipe 8 In the central zone 3, there is also provided a vertical pipe 8 inside which is arranged a propeller 9 forming a vertical propellant suitable for changes in depth and the precise vertical positioning of the underwater vehicle. As can be seen more particularly in FIGS.
• an electric motor 10 for driving the propeller 9, four electric motors 11 for horizontal propulsion, each driving a propeller 5 , a plurality of batteries 12 for storing electrical energy, an electronic unit 13 for controlling the electric propulsion motors, electronic cards 14 of a computer, a magnetic compass 15 and a transducer 16.
• a motorcycle is also provided. electrical, hydraulic or pneumatic reducer 17 and an electronic control unit 18 assigned to the geared motor 17 whose functions will be specified below.
• two symmetrical arms 19 are provided, generally oriented towards the front and each supporting at their free end a pin 20.
• the front part 21, which is formed from the front end 1, is supported by the pins 20 and the arms 19 and is able to pivot relative to the rear part 4 around the common horizontal axis to the two pins 20.
• the pivoting of the front part 21 is caused by the geared motor 17 controlled by the electronic unit 18.
• the fact of having the geared motor 17 and its electronic unit 18 in the rear part 4 makes it possible to reduce the mass of the front part 21 which is movable relative to the rear part 4 and therefore reduces the mass driven in pivoting.
• the horizontal axis common to the two pins 20 passes through the center of gravity of the front part 21, which allows a more regular pivoting movement and reduces the torque that is required from the gear motor 17. Thanks to the hemispherical shape of the second part 21, its pivoting does not affect the hydrodynamic behavior of the entire vehicle.
• the front part 21 comprises a military charge 22 disposed substantially in its center and being in the form of a hollow charge with forward-facing effect when the front part 21 is in the rest position aligned with the rear part 4, perpendicular to the axis of the journals 20.
• the front part 21 also includes a headlight 24 making it possible to illuminate the surroundings of the underwater vehicle and oriented along an axis parallel to the axis of the hollow charge.
• an analog or digital type camera 23 is arranged, also oriented along an axis parallel to that of the shaped charge.
• the camera 23 and the projector 24 slightly protrude from the front end 1 of generally hemispherical shape.
• the front part 21 also includes a sonar 25 arranged in a short cylindrical portion projecting from the front end 1 and oriented along a vertical axis, in the rest position.
• An electronic unit 26 for controlling the sonar 25 is disposed inside the front part 21, as well as a battery 27 for storing electrical energy intended for the camera 23, the projector 24, the sonar 25 and more generally for all the energy consuming members associated with the front part 21.
• a high-speed transducer 28 arranged in projection from the front end 1 substantially symmetrical to the sonar 25.
• the transducer 28 is controlled by an electronic unit 29 arranged inside the front part 21.
• the rear part is also provided with an echo sounder 30 disposed in a lower zone of the underwater vehicle and making it possible to assess the distance between said underwater vehicle and the bottom.
• An electronic unit 31 for controlling the transducer 16 is provided.
• the transducer 16 is disposed in a substantially cylindrical protuberance along a vertical axis of the rear part 4 on the same side as the sonar 25. This transducer 16, at low speed, allows the transmission of propulsion orders from the surface vessel or from the aircraft to the underwater vehicle, as well as the transmission of information relating to the trajectory of the underwater vehicle towards the surface ship or the aircraft.
• a flash 32 is disposed on the rear part 4 in an upper zone and allows the emission of a bright light when returning to the surface of the underwater vehicle to facilitate its location by the surface ship or the aircraft, in particular at night or in poor visibility conditions.
• the longitudinal axis of the underwater vehicle is denoted 33
• the pivot axis of the front part 21 or axis of the trunnions 20 is denoted 34
• the axis of the vertical thruster is denoted 35.
• the operation of the underwater vehicle is as follows.
• the underwater vehicle is launched from a surface ship or an aircraft which has previously spotted the object to be destroyed, for example using a hull sonar, a towed submerged sonar, or a carrier vehicle -sonar which moves in front of the ship, or by other means.
• the ship or aircraft travels at a safe distance where it is not likely to be damaged by the explosion of the military charge and the mine .
• the underwater vehicle begins a rallying phase which leads it, thanks to its navigation means, in particular the propellers 5, to an area in which the underwater object previously identified can be located using the locating means. on board the underwater vehicle, in particular the sonar 25.
• the relocation step is carried out by various maneuvers making it possible to detect and locate the object in order to identify it. Sonar 25 is also used to estimate the distance of the object from the vehicle.
• the identification step begins with an approach maneuver to allow images to be taken by the camera 23, possibly assisted by the projector 24, in good conditions. These taking of images may require modifying the orientation of the front part 21 with respect to the rear part 4.
• the images taken by the camera 23 can either be processed automatically by an image processing software implemented work by a computation unit not represented arranged in the front part 21 or by the electronic cards 14 and allowing the identification of the underwater object to confirm that it is a mine or not, then, by comparison, to a database, its classification, that is to say the recognition of the type of mine, according to its manufacturer, its mass, its functioning, etc., and more generally any characteristic useful for recognition.
• This automatic processing can be replaced by analysis, then confirmation by a human operator after acoustic transmission by means of the transducer 28 of the images to the surface ship or the aircraft. It is also possible to envisage carrying out this automatic processing on board said ship or said aircraft.
• the transmission of images to the surface vessel by the transducer 28, for confirmation of destruction in the case of a decision by an operator, or for information in the case of automatic processing, may require pivoting of the forward part 21 relative to the aft part 4 for aiming at said vessel, having the aim of reaching a position favorable to the acoustic transmission of images by the transducer 28 and also possible maneuvering of the entire underwater vehicle, in particular in the presence of acoustic obstacles such as thermoclines or physical obstacles such as rocks.
• the attack step consists in describing a trajectory adapted to the type of mine identified, in order to reach its contact in a vulnerable area, i.e.
• the return stage consists, in the event of negative identification, for example if the object is a wreck and not a mine, to go to a repechage area planned in advance in the vicinity of the surface ship or the aircraft.
• the adjustable head of the underwater vehicle is provided with sensors allowing the observation, the identification and the classification of underwater objects, the sending towards the surface ship or the aircraft in optimal conditions, information and images collected for information or confirmation, the assessment of the distance from the underwater vehicle to the underwater object and the development from this information and after consultation of a database on board the underwater vehicle or on the surface ship or aircraft, of an attack strategy depending on the type of mine.
• Having the camera 23 and the military charge 22 on parallel axes allows positioning that is both more precise and more reliable, hence a greater probability of success, particularly in the event of difficult conditions, for example in currents submarines.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Aviation & Aerospace Engineering (AREA)
• Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
• Toys (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Applications Claiming Priority (3)

Publications (2)

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ID=9552497

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Cited By (1)

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• 1999
  • 1999-11-24 FR FR9914797A patent/FR2801274B1/fr not_active Expired - Lifetime
• 2000
  • 2000-11-21 EP EP00988859A patent/EP1147045B1/de not_active Expired - Lifetime
  • 2000-11-21 DE DE60017546T patent/DE60017546T2/de not_active Expired - Lifetime
  • 2000-11-21 WO PCT/FR2000/003225 patent/WO2001038169A1/fr active IP Right Grant
  • 2000-11-21 JP JP2001539740A patent/JP5155511B2/ja not_active Expired - Lifetime
• 2001
  • 2001-07-23 NO NO20013618A patent/NO20013618D0/no unknown

Non-Patent Citations (1)

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