EP1824727A1 - Unmanned underwater vessel - Google Patents
Unmanned underwater vesselInfo
- Publication number
- EP1824727A1 EP1824727A1 EP05815425A EP05815425A EP1824727A1 EP 1824727 A1 EP1824727 A1 EP 1824727A1 EP 05815425 A EP05815425 A EP 05815425A EP 05815425 A EP05815425 A EP 05815425A EP 1824727 A1 EP1824727 A1 EP 1824727A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- underwater vehicle
- underwater
- propeller
- buoyancy
- vehicle according
- 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
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
- B63G8/26—Trimming equipment
-
- 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
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
- B63H5/165—Propeller guards, line cutters or other means for protecting propellers or rudders
Definitions
- the invention relates to an unmanned underwater vehicle of the type defined in the preamble of claim 1.
- Self-propelled, preferably propeller-driven, unmanned underwater vehicles are called autonomously operating or via a data transmission cable remote-controlled vehicles for performing various tasks under water, so-called.
- Missions used, such. B. to explore the seabed topography, mine exploration and mine destruction.
- similarly constructed vehicles are equipped with different devices and components which are arranged in different areas on the pressure hull of the vehicles.
- the vehicle which is equipped according to a specific requirement profile, is individually trimmed so that it has a quasi-horizontal orientation in the water and is thus largely horizontally and roll-stabilized. Deviations from the hydrodynamics are absorbed by closed control circuits to which the drive unit is connected. If the vehicle is to be converted to another mission task, it must be trimmed again completely after conversion. Not only the trim position of the converted underwater vehicle has to be recalculated and tested, but also the control circuits for the drive unit adjusted to ensure stable steering of the underwater vehicle in the new Tri ⁇ unung.
- the invention has for its object to make the attachments in an underwater vehicle with attachments so that they can be exchanged for existing different types of attachments, as well as in addition to the existing attachments can be arranged on the pressure hull without the trim position of the underwater vehicle is changed ,
- the inventive, unmanned underwater vehicle has the advantage that the underwater vehicle by the neutral design of the implements in a change in the mission task of the underwater vehicle or the customer for another use profile for the underwater vehicle or when retrofitting the underwater vehicle for use in sea areas with changed environmental parameters can be easily equipped by removing and / or attaching attachments with the necessary components for the respective objective without the adjusted trim position of the underwater vehicle is thereby changed.
- This saves not only repeated Trimmlagenbeticianen and Trimmlagenerprobept for the converted underwater vehicle, but also makes the complex adaptation of the control loops for the drive unit to a new trim position superfluous. Overall, this allows the unchanged base vehicle with little conversion effort for all use profiles or switch from one assignment profile to another at short notice.
- the drive unit of the underwater vehicle on a plurality of propeller drives which are received in the outside of the pressure body distributed drive tubes with tubular end projecting propeller.
- Each propeller drive is associated with a protective device surrounding its propeller as an attachment, and on each drive tube of the propeller drives as the output force of the protective device compensating buoyancy on a fixedly connected to the protective buoyancy tube is pushed.
- Such auxiliary equipment of the underwater vehicle with attachments designed as propeller protection devices allows the use of the underwater vehicle in extreme shallow water areas, where ground touches can not be safely excluded or in areas where a large amount of flotsam is expected.
- an equipment of the underwater vehicle with propeller protection devices is advantageous to damage the propeller by touching the ship's side during insertion and Ausbringvorgang to prevent.
- the provided as a buoyancy body for weight compensation of the protective devices Buoyancy tubes serve at the same time to hold the protective devices on the underwater vehicle.
- the attachment is an underwater antenna with an electroacoustic transducer assembly, wherein the buoyancy body compensating the output force, adapted to the shape of the underwater antenna, at the side facing away from the sound incidence direction of the
- Underwater antenna is arranged.
- Such underwater antennas are needed in the exploration of the seabed with respect to its topography or for the detection of lying on the seabed objects, especially mines, in conjunction with short-range sonars, especially Sosichtsonaren.
- the underwater antenna with the help of the buoyant body is neutral in output, so that .It does not change the trim position of the underwater vehicle results by cultivation of the provided with the buoyancy underwater antenna to the pressure hull.
- an underwater antenna with buoyant body is attached to a drive pipe of a port-side and a starboard-side propeller drive.
- a TV camera can be inserted in the front end of a drive tube facing away from the propeller.
- the holder of a load-bearing frame can be used, with which the underwater vehicle can spend any loads.
- the TV camera as well as the load-bearing frame are rigidly connected to a buoyant body which compensates for the output force generated by the weight of the respective attachment on the underwater vehicle by a buoyancy force acting on it.
- FIG. 1 is a perspective view of an unmanned underwater vehicle, shown schematically,
- Fig. 2 is a perspective view of an am
- Underwater vehicle according to FIG. 1 mounted propeller protection device with buoyancy pipe
- FIG. 3 is a side view of propeller protection device and buoyancy tube of FIG. 2, partially cut away,
- FIG. 4 shows a plan view of the underwater vehicle according to FIG. 1 after retrofitting of attachments
- Fig. 5 is a perspective view of the implements on the converted underwater vehicle of FIG. 4, shown enlarged.
- unmanned underwater vehicle has a pressure body 11 and a total of four propeller 12 existing drive unit.
- the propeller drives 12 are two at or near the top of the pressure hull 11 and two at or near the bottom of the pressure hull 11 are respectively disposed on the control and port side of the pressure hull 11.
- Each propeller drive 12 has an electric motor which drives a propeller 13 via a drive shaft.
- the electric motor and the drive shaft are accommodated in each case one attached to the pressure body 11 drive tube 14, wherein the drive shaft is rotatably mounted in the drive tube 14.
- On the protruding from the drive tube 14 end of the drive shaft of the propeller 13 is attached.
- Each propeller 13 is provided with a protective device 15, which protects the propeller 13 against damage during ground contact, in ship's wall contact or by flotsam.
- propeller protection devices 15 make the underwater vehicle more expensive and are not required for all application profiles, they are offered as an option, so that the underwater vehicle can be used both with and without propeller protection devices 15.
- the propeller protection devices 15 thus represent attachments that can be ordered as accessories or later retrofitted when changing the use profile of the underwater vehicle.
- the underwater vehicle is carefully trimmed without the propeller protection device 15, so that it occupies a quasi-horizontal position in the water. Deviations from the hydrodynamics are absorbed by closed control circuits to which the propeller drives 12 are connected.
- each protective device 15 is fixedly connected to a buoyant body in the form of a buoyancy tube 16 whose density is smaller than the density of the water. Density and volume of the buoyant body or of the buoyancy tube 16 are selected such that the buoyancy force acting on the protective device 15 with buoyancy tube 16 in the water compensates for the force of gravity acting on the protective device 15 with buoyant body 16.
- Each combination of buoyancy tube 16 and attached thereto protective device 15, as shown in perspective in Fig. 2 is thus output compensated and changed by its attachment to the pressure hull 11 is not the trim position of the underwater vehicle.
- the attachment of the protective devices 15 to the propeller drives 12 takes place in that the buoyancy tube 16 of each protection device 15 is pushed onto one of the four drive tubes 14 in a form-fitting manner and fixed thereon.
- the buoyancy tube 16 is made as a turned part by machining from a material whose density is smaller than the density of the water.
- the wall thickness of the buoyancy tube 16 is predetermined due to the space available on the drive tube 14.
- the volume of the buoyancy tube 16 required for the buoyancy is produced by a corresponding length of the buoyancy tube 16.
- the protective device 15 is made of metal or an impact-resistant plastic and thus has a density which is substantially greater than the density of water. By accurately calculating the length of the buoyant body 16, a force generated by the protection device 15 is compensated.
- the buoyancy tube 16 has an end section 161 which is reduced in its outer diameter for the positive reception of a fastening ring 17 of the protective device 15.
- the outer diameter of the end portion 161 is thus sized smaller than the inner diameter of the mounting ring 17.
- the outer diameter of the mounting ring 17 is matched to the outer diameter of the buoyancy tube 16, so that when pushing the mounting ring 17 on the end portion 161 of the mounting ring 17 and the buoyancy tube 16 flush with each other.
- the protective device 15 is designed for mounting reasons in two parts and includes a propeller 13 frontally covering protective grid 18 and a protective grid 18 receiving protective grid holder 19, at the drive tube 14 facing the end of the mounting ring 17 is arranged.
- the protective grid holder 19 at equal circumferential angle staggered axial webs 20, which are angled towards the mounting ring 17 and attached to the mounting ring 17.
- the protective grid 18 is placed and secured to the axial webs 20.
- the guard 18 has a ring 21 and attached to the ring 21 radial struts 22. In the ring 21 holes 23 are offset by the same circumferential angle to each other.
- the diameter of the holes 23 is smaller than the diameter of the axial webs 20.
- the end portions 201 of the axial webs 20 are reduced in diameter, so that forms an annular shoulder at a distance from the free end of the axial webs 20.
- the end portions 201 are also threaded.
- the protective grid holder 19 is fastened on the buoyancy tube 16, which takes place, for example, by gluing the fastening ring 17 onto the end section 161 of the buoyancy tube 16.
- the mounting ring 17 can be pushed onto the end portion 161 and held by radially screwed locking screws. It is also possible to provide end section 161 and fastening ring 17 with corresponding threads, so that the fastening ring 17 can be screwed onto the end section 161.
- buoyancy tube 16 When not yet mounted propeller 13 which is provided with the protective grid holder 19 buoyancy tube 16 is positively slid onto a drive tube 14 and fixed on the drive tube 14. Thereafter, the propeller 13 is placed on the protruding from the drive tube 14 shaft end and secured thereto. Thereafter, the protective grid 18 is secured to the protective grid holder 19 by the ring 21 of the protective grid 18 is guided with its holes 23 on the end portions 201 of the axial webs 20 until the ring 21 abuts the annular shoulders of the axial webs 20. Then threaded nuts 24 are screwed onto the end portions 201, so that the ring 21 of the protective grid 18 is clamped against the annular shoulders of the axial webs 20.
- Fig. 4 the underwater vehicle described is shown in plan view, but without the optional propeller protection devices 15 is operated.
- This underwater vehicle is used to record the topography of the seabed in a sea area and is equipped for this purpose with a side vision sonar.
- the sideview sonar includes a port-side underwater antenna 31 and a starboard-side underwater antenna 32, each with an electro-acoustic transducer assembly.
- Each underwater antenna 31, 32 is attached as an attachment to the pressure hull 11 of the underwater vehicle and is fixedly connected to a suitably designed buoyant body 33 or 34, which is made of a material having a density which is smaller than the density of water, and substantially the outline contours of the underwater antenna 31 and 32 is adjusted.
- the buoyant body 33 is in turn designed so that the buoyancy force acting in the water on the combination of underwater antenna 31 and buoyant body 33 or underwater antenna 32 and buoyant body 34 compensates for the force of gravity acting on the respective combination of underwater antenna 31 or 32 and buoyant body 33 or 34 ,
- FIG. 5 the respective combination of port-side underwater antenna 31 is shown in perspective with port side buoyant body 33 and starboard side underwater antenna 32 with starboard side buoyant body 34.
- the buoyant body 33 or 34 is arranged at the side facing away from the sound incidence direction side of the ' underwater antenna 31 and 32, respectively.
- Each buoyant body 33 or 34 has on sides facing away from each other in each case a bearing surface 35 for engagement with the underwater antenna 31 and 32 and a bearing surface 36 for placing the buoyant body 33 and 34 on a drive tube 14 of two propeller drives 12.
- the bearing surface 36 is shaped according to the curvature of the drive tube 14.
- 32 fastening means 37 are provided, which engage over the buoyancy bodies 33, 34 and are fixed to the respective drive tube 14.
- the fastening means 37 are formed as tabs 38, two of which are each secured at a longitudinal distance from each other on the underwater antenna 31 and 32 and respectively wrap around the drive tube 14 of the port-side propeller drive 12.
- a drive tube 14 is indicated by dashed lines, to which the port-side underwater antenna 31 is attached with buoyant body 33 for clarity.
- the underwater antennas 31, 32 can also be fastened directly to the pressure body 11 on the starboard and port side by means of respective buoyant bodies 33 and 34, respectively.
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL05815425T PL1824727T3 (en) | 2004-12-14 | 2005-12-02 | Unmanned underwater vessel |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004060010A DE102004060010B3 (en) | 2004-12-14 | 2004-12-14 | Unmanned underwater vehicle, has density and volume of buoyancy unit selected to compensate for gravitational force |
PCT/EP2005/012911 WO2006063695A1 (en) | 2004-12-14 | 2005-12-02 | Unmanned underwater vessel |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1824727A1 true EP1824727A1 (en) | 2007-08-29 |
EP1824727B1 EP1824727B1 (en) | 2009-04-15 |
Family
ID=35433424
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05815425A Active EP1824727B1 (en) | 2004-12-14 | 2005-12-02 | Unmanned underwater vessel |
Country Status (9)
Country | Link |
---|---|
US (1) | US7533625B2 (en) |
EP (1) | EP1824727B1 (en) |
JP (1) | JP5038903B2 (en) |
AT (1) | ATE428628T1 (en) |
DE (2) | DE102004060010B3 (en) |
MY (1) | MY143422A (en) |
NO (1) | NO338059B1 (en) |
PL (1) | PL1824727T3 (en) |
WO (1) | WO2006063695A1 (en) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8731751B2 (en) * | 2008-02-07 | 2014-05-20 | GM Global Technology Operations LLC | Method and system for controlling a hybrid vehicle |
US8305844B2 (en) * | 2008-08-07 | 2012-11-06 | Depasqua Louis | Sonar navigation system and method |
US8619134B2 (en) * | 2009-03-11 | 2013-12-31 | Seatrepid International, Llc | Unmanned apparatus traversal and inspection system |
DE102010004789A1 (en) * | 2010-01-16 | 2011-07-21 | Howaldtswerke-Deutsche Werft GmbH, 24143 | submarine |
DE102010033638A1 (en) | 2010-08-06 | 2012-02-09 | Atlas Elektronik Gmbh | Combustion agent for clearing munitions, such as sea mines, under water, unmanned underwater vehicle with such ordnance and apparatus for this purpose |
CN102320362B (en) * | 2011-06-29 | 2013-06-12 | 浙江大学 | Docking device of autonomous underwater vehicle and submarine observation network |
CN103057679B (en) * | 2013-01-11 | 2015-05-20 | 哈尔滨工程大学 | Mutual butt joint device for double intelligent underwater robots and butt joint method |
CN103419917A (en) * | 2013-03-26 | 2013-12-04 | 陈国英 | Unmanned torpedo submarine |
US9315248B2 (en) | 2013-09-24 | 2016-04-19 | Eddie Hugh Williams | Modular rapid development system for building underwater robots and robotic vehicles |
CN106394844A (en) * | 2016-11-06 | 2017-02-15 | 邹良聪 | Screw propeller protection cover |
CN106892057A (en) * | 2017-03-21 | 2017-06-27 | 哈尔滨工程大学 | Toroidal mini underwater vehicle retracting device |
EP4347381A1 (en) * | 2021-06-02 | 2024-04-10 | BAE SYSTEMS plc | Improved watercraft system |
EP4098546A1 (en) * | 2021-06-02 | 2022-12-07 | BAE SYSTEMS plc | Improved watercraft system |
GB2607314A (en) * | 2021-06-02 | 2022-12-07 | Bae Systems Plc | Improved watercraft system |
CN113415403A (en) * | 2021-07-14 | 2021-09-21 | 哈尔滨工程大学 | Driving device for full-sea-condition long-range unmanned sail ship |
USD996338S1 (en) | 2021-08-13 | 2023-08-22 | Tridentis Advanced Marine Vehicles, LLC | Underwater vessel hull |
CN115140279B (en) * | 2022-08-16 | 2023-03-24 | 广东海洋大学 | Novel underwater gliding robot |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3828719A (en) * | 1972-04-03 | 1974-08-13 | C Cooke | Hydraulic propulsion unit |
JPS57205295A (en) * | 1981-06-13 | 1982-12-16 | Tech Res & Dev Inst Of Japan Def Agency | Guiding device for underwater traveling body |
JPH0348959Y2 (en) * | 1985-03-28 | 1991-10-18 | ||
NO162880C (en) * | 1985-06-06 | 1990-02-28 | Moss Rosenberg Verft As | EN-ATMOSPHERIC UNDERWATER SYSTEM FOR NATURAL RESOURCES EXTRACTION. |
US6366533B1 (en) * | 2000-07-17 | 2002-04-02 | The United States Of America As Represented By The Secretary Of The Navy | Underwater reconnaissance and surveillance system |
AUPR400601A0 (en) * | 2001-03-27 | 2001-04-26 | Allen, Robert | Marine propulsion device |
SE523115C2 (en) * | 2001-07-30 | 2004-03-30 | Martin Pehrson | Autonomous system for underwater inspection |
US6645020B1 (en) * | 2002-08-06 | 2003-11-11 | The United States Of America As Represented By The Secretary Of The Navy | Submarine countermeasure propeller protector |
-
2004
- 2004-12-14 DE DE102004060010A patent/DE102004060010B3/en not_active Expired - Fee Related
-
2005
- 2005-11-18 MY MYPI20055419A patent/MY143422A/en unknown
- 2005-12-02 AT AT05815425T patent/ATE428628T1/en not_active IP Right Cessation
- 2005-12-02 JP JP2007545883A patent/JP5038903B2/en not_active Expired - Fee Related
- 2005-12-02 EP EP05815425A patent/EP1824727B1/en active Active
- 2005-12-02 WO PCT/EP2005/012911 patent/WO2006063695A1/en active Application Filing
- 2005-12-02 DE DE502005007108T patent/DE502005007108D1/en active Active
- 2005-12-02 PL PL05815425T patent/PL1824727T3/en unknown
- 2005-12-02 US US11/667,125 patent/US7533625B2/en active Active
-
2007
- 2007-07-06 NO NO20073496A patent/NO338059B1/en not_active IP Right Cessation
Non-Patent Citations (1)
Title |
---|
See references of WO2006063695A1 * |
Also Published As
Publication number | Publication date |
---|---|
US20080121165A1 (en) | 2008-05-29 |
NO338059B1 (en) | 2016-07-25 |
US7533625B2 (en) | 2009-05-19 |
DE102004060010B3 (en) | 2005-12-22 |
WO2006063695A1 (en) | 2006-06-22 |
NO20073496L (en) | 2007-07-06 |
JP2008522899A (en) | 2008-07-03 |
PL1824727T3 (en) | 2009-09-30 |
MY143422A (en) | 2011-05-31 |
EP1824727B1 (en) | 2009-04-15 |
DE502005007108D1 (en) | 2009-05-28 |
JP5038903B2 (en) | 2012-10-03 |
ATE428628T1 (en) | 2009-05-15 |
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