EP1851107A1 - Method and device for the identification and neutralisation of a submarine mine - Google Patents

Method and device for the identification and neutralisation of a submarine mine

Info

Publication number
EP1851107A1
EP1851107A1 EP06709215A EP06709215A EP1851107A1 EP 1851107 A1 EP1851107 A1 EP 1851107A1 EP 06709215 A EP06709215 A EP 06709215A EP 06709215 A EP06709215 A EP 06709215A EP 1851107 A1 EP1851107 A1 EP 1851107A1
Authority
EP
European Patent Office
Prior art keywords
robot
underwater
intervention
mine
submarine
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
EP06709215A
Other languages
German (de)
French (fr)
Other versions
EP1851107B1 (en
Inventor
Jean-Claude Fournier
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.)
DCN SA
Original Assignee
DCN SA
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 DCN SA filed Critical DCN SA
Publication of EP1851107A1 publication Critical patent/EP1851107A1/en
Application granted granted Critical
Publication of EP1851107B1 publication Critical patent/EP1851107B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines

Definitions

  • the present invention relates to the identification and possible neutralization of an underwater object likely to be an underwater mine, the presence of which has previously been detected and the position determined.
  • a first dredging is generally carried out followed by additional clearing to remove any mines that may remain after the first dredging.
  • additional clearing it is necessary first of all to detect the mines that may be present, to identify their positions, to identify them, then to destroy them or at least to neutralize them.
  • robots such as remote-controlled robots or automated underwater vehicles equipped with detection means, in particular acoustic detection, can be used, as well as means for precisely determining the locations of mines. positions of the robots, these means being in communication with an accompanying ship.
  • the precise positioning means are, for example, global satellite positioning systems such as the GPS system, and preferably, differential global positioning means, that is to say means comprising beacons whose position is known with precision and used to determine by difference the position of the moving vehicle which we want to know the precise position at each moment.
  • global satellite positioning systems such as the GPS system
  • differential global positioning means that is to say means comprising beacons whose position is known with precision and used to determine by difference the position of the moving vehicle which we want to know the precise position at each moment.
  • the remote-controlled robots are, for example, front sonars carried by mine-hunting ships, that is to say ships having good resistance to shocks.
  • Automated submarine vehicles equipped with means for detecting mines and determining their positions are small submarines of relatively large size, which can move a few kilometers or a few tens of kilometers. As a result, they can be launched either from the ground or from an accompanying building that does not need to be particularly impact resistant.
  • the object of the present invention is to overcome these drawbacks by proposing a means for identifying and possibly neutralizing objects likely to be submarine mines, which can approach an object and stabilize near this object. ci, regardless of weather or marine conditions, using a carrier vehicle that remains outside the area of action of the potential mine.
  • the subject of the invention is a method for identifying and possibly neutralizing an underwater object likely to be an underwater mine, whose geographical position is known, according to which a submarine intervention robot is used. suspended under an aircraft capable of hovering such as a helicopter with which we just have the robot to the right of the object to identify and possibly to neutralize, then identify the object and possibly it is neutralizes.
  • a submarine intervention robot suspended from a support cable mounted on a winch carried by an operator is placed vertically at the known geographical position of the underwater object.
  • the underwater intervention robot comprising at least visualization and / or detection means and possibly means of intervention on an underwater mine connected to control means, the robot of underwater intervention with sufficient weight in the water to form a steep pendulum when immersed.
  • the underwater intervention robot is lowered in order to place it near the submarine object; by means of visualization and / or detection means, the underwater object is identified and, by moving the helicopter and operating the winch, the intervention robot is positioned in a position relative to the underwater object allowing identification and possible intervention of intervention means of the intervention robot on the underwater object; using the visualization means, the underwater object is identified, the intervention means of the intervention robot are triggered on the submarine object, and the intervention robot is moved away. of the underwater object.
  • the intervention means of the underwater intervention robot comprise at least one means for neutralizing an underwater mine, and triggering the intervention of intervention means of the intervention robot consists of deposit on the object a means of neutralization of an underwater mine and activate a control device of the means of neutralization of an underwater mine.
  • the means for neutralizing an underwater mine is for example a destructive load, of the omnidirectional type or of the directed energy type, comprising fastening means on the underwater mine.
  • the precise geographical positioning means comprise differential global positioning means.
  • the invention also relates to a device for carrying out the method according to the invention which comprises a remotely controlled sub-naval intervention robot connected by a suspension cable to a winch that can be carried by a transport vehicle as well as control means connected to the robot and to the winch by means of data transfer and control signals, the intervention robot comprising at least one visualization means and possibly a means for detecting an underwater object and at least a way of locating the heading of the robot.
  • the robot further comprises at least one means of intervention on an underwater mine.
  • At least one display means consists of a vertical axis television camera and associated lighting means.
  • at least one display means may be a television camera whose axis of vision is inclined relative to the vertical axis so as to allow a panoramic view, associated with lighting means, and at least one Detection means can be a high frequency sonar.
  • the underwater intervention robot comprises at least one positioning stabilization means in cap and / or depth.
  • the heading stabilization means may comprise two arms provided with pallets, deployable horizontally and fixed on the vertical shaft of an electric motor, as well as motor control regulating means.
  • the device associated with a precise positioning means comprises for example a differential global positioning means installed on the transport vehicle of the device, or at least one acoustic locator buoy associated with a responder beacon disposed in the underwater intervention robot as well as means for connecting with means for controlling and interfacing with an operator, or again, a sonar of a mine hunter associated with means of communication with the control means of the transport vehicle of the device.
  • the device may comprise means for detecting the deviation of the suspension cable relative to the vertical, connected to the control means, making it possible to estimate the difference between the position of the robot and that of the transport vehicle.
  • the underwater intervention robot has a density substantially greater than 1 and an apparent weight when immersed sufficient for the device to behave like a pendulum.
  • the data transfer means and control signals may comprise two parts connected by a fast connection means.
  • the control means generally comprise electronic and computer means including servocontrol and interface with an operator comprising means adapted for assisting the control of the transport vehicle, arranged near the control means of the transport vehicle.
  • the control means may comprise at least one servo-control of the winch for the altitude control of the underwater intervention robot.
  • At least one means of intervention on an underwater mine comprises a means for dropping at least one means for neutralizing an underwater mine constituted, for example, by an underwater mine destructive charge which may be an underwater mine.
  • an underwater mine destructive charge which may be an underwater mine.
  • omnidirectional explosive charge optionally of annular shape, or which may be a hollow charge provided with at least one attachment means on an underwater mine, such as an arm triggered automatically or controlled in contact with the mine, equipped or not at least one mechanical fastening means or magnetic, or such as a hydrostatic suction cup.
  • the submarine mine destructive load generally comprises a delay firing control means such as a timer, or acoustic triggering means in a predetermined time window, and optionally a security such as hydrostatic safety by pressure switch.
  • the device is associated with a transport vehicle which is an aircraft capable of hovering such as a helicopter or a drone.
  • a transport vehicle which is an aircraft capable of hovering such as a helicopter or a drone.
  • FIG. 1 schematically represents a mine neutralization device in use
  • FIG. 2 is a schematic perspective view of a first embodiment of an underwater intervention robot for the recognition and destruction of submarine mines;
  • Figure 3 is a schematic sectional view of a second embodiment of an underwater intervention robot for the destruction of an underwater mine, equipped with a hollow charge;
  • FIG. 4 is a schematic view of a hollow charge for the destruction of an underwater mine.
  • an underwater object 1 which is an underwater mine, disposed below sea level 2
  • a device generally identified by 3 consisting of an underwater intervention robot, is used. 4 suspended by a cable 5 to a winch 6 carried by a helicopter 7 equipped to perform stationary flights even in bad weather conditions.
  • the submarine robot 4 comprises means generally marked by 10 for viewing and detecting a mine, arranged in its lower part. It also comprises stabilization means in position underwater generally marked 11, allowing positioning in the cap, and also depth positioning means (not visible in the figure). In addition, it carries means of destruction of underwater mines.
  • the robot is made of non-magnetic materials and has enough electrical or electronic equipment to have a weak magnetic signature.
  • the cable 5 is intended on the one hand to support the underwater robot 4 and on the other hand to transmit information between the robot 4 and a control panel 9 and an interface with an operator, arranged inside the the helicopter 7. It comprises a final strand 5A and a main strand 5B connected by a quick connection device 8.
  • the helicopter is equipped at least with communication means with precise geographic positioning means 15.
  • the helicopter pilot is provided with the list of objects to be identified, identified by their precise geographical positions, for example by taking their GPS positions.
  • This list is usually in the form of a computer file.
  • the underwater robot 4 is transported above sea level until it is brought vertically from the theoretical position of an object 1 to identify and possibly destroy.
  • the underwater robot is lowered until it is submerged to a depth corresponding to the depth at which it is normally located. object to be identified.
  • display and / or registration means which will be described in more detail below, an operator then tries to locate the object.
  • precise indications are transmitted to the pilot, or more generally to the control means of the helicopter so that the latter, by moving the helicopter and possibly by acting on the winch, brings the robot under control.
  • the operator sends instructions to the submarine robot 4 to deposit on the mine at least one means 12 for neutralizing a mine constituted by example of an explosive charge, which it triggers a firing means having at least one timer.
  • the operator controls the rise of the underwater intervention robot 4 by rewinding the cable 5 around the winch 6 so as to get it out of the water and away from the area where the mine can explode.
  • the helicopter can then move away from the area in which the mine is located and can either return to its base or intervene to identify and possibly destroy another object.
  • the helicopter Since the helicopter is capable of hovering and is not subject to sea currents, it is easy to bring the robot close to the object to be identified and to keep it in that position, which can not always be done self-propelled underwater robot.
  • the helicopter flies more than 50 meters, and preferably more than 100 meters, above sea level, it can be considered to be out of reach of the explosion of an underwater mine. The intervention can then be done safely.
  • the robot may be damaged during the mission.
  • the two-part cable allows the damaged robot to be replaced by a new robot, without having to change the entire cable.
  • the means for viewing and / or detecting the mines are, firstly one or more miniaturized television cameras accompanied by a lighting means, and secondly, possibly, a high frequency sonar.
  • the television cameras are intended to observe the vicinity of the underwater intervention robot 4 at least in a field of vision which is defined with respect to the vertical or by a cone having a apex angle of about 45 °, or by a panoramic field of vision which allows to observe the sea in a hemisphere below a horizontal plane.
  • All these cameras are equipped with lighting means to allow to see at relatively large depths and up to distances of about ten meters.
  • These visualization and detection means may also include a high frequency sonar so as to be able to detect objects in the vicinity of the robot at distances that may be between about twenty meters and a hundred meters, substantially greater than the distances accessible by the vision. using television cameras.
  • the underwater intervention robot 4 has means of detecting its heading, necessary to define the coordinates of the objects it can identify.
  • These cap detection means incorporate for example a magnetic compass.
  • the underwater intervention robot 4 is equipped with stabilization means in position 11 which, in particular, are cap stabilization means designed to prevent the rotation of the robot around its vertical axis. Indeed, in the absence of such means, the robot suspended at the end of a long cable would tend to turn on itself, which would make it very difficult to exploit images and require complex means of measurement in permanence of the orientation of the detection means with respect to a determined heading.
  • These means for stabilizing the heading are means known in themselves, consisting in particular of pallets mounted at the end of horizontal arms and mounted on a vertical axis motor whose movement is controlled by an orientation measurement of a point of rotation. reference of the robot with respect to a heading determined using means for measuring the heading.
  • the robot is stabilized in depth using measures that can be the position of the robot with respect to the seabed measured using a sounder or the position of the robot relative to the sea surface measured by the pressure. These measurements are used to control the winch so as to enslave the length of the cable to a precise position of the robot.
  • the position of the object 1 is marked with respect to its absolute geographical position as the position of the helicopter 7 is also determined by its absolute geographical position. It is therefore possible to have the underwater intervention robot 4 above the object 1 by making the absolute geographical positions of the object 1 and the helicopter 7 coincide in the absence of current.
  • the robot 4 can be driven by the current so that the support cable 5 is no longer vertical.
  • the helicopter is no longer vertical to the object 1.
  • the device is associated with means 15 precise geographic positioning.
  • These precise geographic positioning means 15 are in particular differential geographical positioning means (GPS differential), which allow the pilot of the helicopter to know precisely the position of his aircraft.
  • GPS differential differential geographical positioning means
  • the precise geographical position of the object 1 is determined using a precise differential geographical positioning means.
  • the coordinates of the object are then sent to the helicopter. From these data and information from the precise geographical positioning system of the helicopter, as well as, possibly, information from the sensor 13 of the movements of the cable relative to the vertical, the pilot brings the robot to the vertical of the object 1.
  • it has previously disposed of acoustic positioning beacons in the vicinity of the object and there is arranged a responder beacon on the submarine intervention robot 4.
  • the acoustic positioning beacons which preferably have a minimum of three, make it possible to determine the precise position of the underwater intervention robot by interferences with the responder beacon of the robot.
  • This precise position of the robot is sent to an information processing means arranged for example on an accompanying ship located at a distance.
  • This information is translated in the form of positioning instructions sent to the helicopter, which applies these new instructions using its precise geographical differential positioning means.
  • the relative position of the object 1 relative to the robot 4 is determined using the sonar of an accompanying mine-hunter ship which transmits the corresponding information by radio to the helicopter.
  • the vector corresponding to the position difference between the underwater intervention robot 4 and the object 1 is then used by a means adapted to determine an adjustment of the positioning setpoint of the helicopter, which instruction is then applied by the pilot of the helicopter.
  • the underwater intervention robot 4 comprises both a vertical camera, panoramic television cameras and a sonar
  • the search for an object in the vicinity of its theoretical position is done by successive steps that are going describe now
  • the robot is at a distance from the object too large to be able to see the object with the television cameras
  • the presence of it is detected by the high frequency sonar which returns to the control console indications on the distance of the object with respect to the robot and the azimuth of the position of the object with respect to a reference heading of the robot.
  • the determination of the azimuth of the object with respect to the reference heading is made using the means of measuring the heading available to the robot.
  • the image of it is analyzed by the operator who verifies that it is indeed a mine and identifies it.
  • the operator can be assisted by specialized software.
  • the operator sends the robot 4 a deposition order on the mine of a neutralization means, such as a load 12 for destroying the mine, which charge is then triggered.
  • a neutralization means such as a load 12 for destroying the mine.
  • the means for neutralizing the mine are either ring-shaped omnidirectional charges that fit into the mine, or hollow charges provided with fastening means on the mine.
  • the triggering means of these means of destruction of the mine are for example firing timers which leave between the the moment the charge is placed on the mine and the moment it explodes, enough time to move the robot away.
  • the means for triggering the means for neutralizing or destroying the mine may be an acoustic triggering means in a predetermined time window, supplemented optionally by a safety device such as a hydrostatic safety device by means of a pressure switch. .
  • an acoustic triggering means in a predetermined time window is that it is triggered only when it receives an acoustic signal that can be sent at will by an operator, for example by the operator who is in the helicopter. This can make it possible to deposit neutralization means on a set of mines and to trigger them all simultaneously. It may also allow the helicopter to delay or cancel the triggering of the mine destruction device explosion when it has difficulties, so as to ensure its own safety.
  • FIG. 2 A first embodiment of an underwater intervention robot represented in FIG. 2 will now be described in greater detail.
  • This robot generally marked by 4 comprises a cylindrical body 40, vertical, comprising, at its upper part, means generally represented by 11 stabilization in cap consisting of two movable arms
  • This control uses a device for measuring the heading and a means for measuring the angle that the direction of a reference point of the robot and a reference heading.
  • the robot is suspended from the lower strand 5A of a cable 5, as indicated above, the cable being intended firstly to ensure the mechanical suspension of the robot and secondly to transmit information, and possibly electrical energy between the robot and a console.
  • the lower part of the body 40 of the robot comprises viewing and marking means generally marked by 10, constituted by a vertical television camera 101 accompanied by lighting means which looks in a vertical direction, by several panoramic television cameras 102 accompanied also adapted lighting means, and by a high frequency sonar 103 mounted movable so as to scan the horizon around the robot 4. All of these viewing and locating means are connected to the control panel of the device (not shown in the figure), via the cable.
  • the minimum of associated electronic equipment being located in the body of the robot.
  • the body of the robot has at its periphery the means generally identified by 12 of destruction or neutralization of a mine.
  • These means consist of two explosive charges 121 and 122 of annular shape, each comprising an ignition means timed or triggered by acoustic signal in a time window 150 and 151 respectively, held on the robot by holding means which can to be unlocked separately one after the other, so that a load can be dropped on a particular mine.
  • the robot when the robot is brought over a first mine, one can unlock the first explosive charge 121 which slides along the robot body and is deposited on the head of the mine and which is maintained there because of its annular shape.
  • This explosive charge can be linked to the robot by a control wire itself connected through the cable 5A to the control panel of the device, so that the operator can trigger the ignition means of the load.
  • the triggering of the ignition means of the load (or more precisely of its timer), can also be automatic at the time of the release of the load.
  • the robot has two explosive charges, but it can include a larger number.
  • This robot which has two explosive charges 121 and 122, can be used to neutralize a second mine.
  • the robot is moved to bring it over a second mine.
  • the second load 122 is then unlocked so that it slides along the body of the robot and comes to rest on the second mine, and the second load is initiated.
  • the locking and unlocking means of the various mines are means known in themselves that the skilled person can easily achieve and which eventually consist of arms or pins controlled by electromagnetic cylinders.
  • the robot contains inside its body 40 a source of electricity for the motor 11C of the cap regulation means and possibly for the control of the locking and unlocking means of the explosive charges.
  • This source of electricity is for example a battery.
  • the robot may also include power supply means for television cameras, their lighting means, sonar, also consisting of batteries.
  • the robot comprises means for determining the heading, for example a magnetic compass, and means for determining the position of the robot, on the one hand with respect to the seabed, for example an acoustic sounder, and on the other hand in relation to the sea surface, for example a means of measuring the pressure. These means also include their power supplies.
  • the robot can be supplied with electricity by the connection cable with the helicopter.
  • the robot can be used both to neutralize mines orin mines located at the bottom of the sea.
  • the robot generally labeled 4 'in FIG. 3 comprises a bell-shaped body 40' whose upper part is equipped with cap stabilization means 11 'identical to the means described in the preceding embodiment and comprising two articulated arms 11' A, equipped with pallets 11'B.
  • This body of the robot is suspended from the lower strand 5A of a cable 5 identical to the previous cable.
  • a vertical vision television camera 101 ', panoramic television cameras 102' and a high frequency sonar 103 ' are arranged at the lower part of the body 40'.
  • Electronic and measurement means 42 ', 43', 44 ' are intended to ensure the operation of the television cameras 101', 102 'of the sonar 103', a heading measuring means such as a magnetic campas, means for measuring the depth under water such as a pressure sensor, and means for measuring the distance from the bottom such as a sounder.
  • the body of the robot also contains sources of electrical power, for example batteries, to control television cameras, sonars, other electronic equipment, as well as various engines that the robot is equipped with in order to simplify the design of the cable, connectors and rotating connector.
  • sources of electrical power for example batteries, to control television cameras, sonars, other electronic equipment, as well as various engines that the robot is equipped with in order to simplify the design of the cable, connectors and rotating connector.
  • the power supply can be provided from the outside by the cable 5.
  • the robot comprises inside the bell 40 'a means 12' for destroying a mine consisting of a hollow charge 121 'provided with a timed ignition device 150' , comprising a hydraulic suction cup for plating the hollow charge on an eye mine.
  • the hydraulic suction cup consists of a skirt 130 'connected by a pipe 131' to a pump 132 '.
  • the load 12 ' is suspended inside the robot by a device 41' which makes it possible to lower it and to dump it and to abandon it, plated on a mine that one wishes to destroy.
  • the robot embarks only one hollow charge and can, in this case, destroy only one mine at a time.
  • most of the body of the robot is made of non-magnetic materials and the electrical or electronic equipment is reduced to a minimum so as to have a robot whose magnetic signature is the lowest possible.
  • the electronic equipment arranged inside the robot are the equipment that strictly needs to be located in the robot to ensure its operation.
  • the additional equipment is carried away from the robot, for example in the control console located in the helicopter, and is connected to the robot by the cable 5.
  • the body of the robot and all the equipment that can be are made of non-magnetic materials to ensure a magnetic signature as low as possible.
  • the robot's density must be substantially greater than 1 and its apparent weight sufficient to ensure a pendulum behavior, but not too high to remain compatible with the use of a helicopter.
  • the robot does not have its own propulsion means. But, nevertheless, it may be useful to provide small thrusters, such as propellers, to facilitate the final movements of final approach of the position of the mine to be destroyed. However, these means, when they exist, remain notoriously insufficient to ensure the autonomy of movement of the robot.
  • the device may include computer and display means arranged in the helicopter.
  • These computer and display means may use image analysis and image recognition software to facilitate the interpretation of television images. They may also use software that exploits mine detection, mine position, and helicopter position data, including data provided by the accurate positioning devices, to display guidance for the pilot of the helicopter, or even to send instructions to a system of autopilot. These means can also provide control signals to the winch and the control means of the helicopter to automatically stabilize the robot in depth.
  • the description of the equipment available to the robot is not limiting, and the robot can be equipped with any device, which performs the desired functions, provided that its features are compatible with the use of the underwater robot suspended at a helicopter.
  • the robot may only be designed for the identification of objects that may be mines. In this case, it does not include means for releasing a destruction charge of a mine. If a mine is identified and must be destroyed, it is using another robot capable of dropping a mine-destroying charge.
  • helicopter any aircraft capable of carrying the robot over the sea and hovering can be used.
  • the aircraft can be piloted by an onboard pilot as well as be remotely controlled. In particular, it may be a drone.
  • the robot can be used and maneuvered by an operator who can possibly be the pilot of the aircraft or be a specialized operator.
  • the pilot of the aircraft and the operator may as well be close to each other as distant.
  • the automation and the means of control and interfacing with an operator may as well be arranged in the aircraft as in a support vessel or an on-shore control station in radio link with the aircraft. In the latter case, if the aircraft is a helicopter, the pilot and the operator are distant from each other.
  • the operator can possibly be replaced by automatisms.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Physical Or Chemical Processes And Apparatus (AREA)
  • Toys (AREA)
  • Manipulator (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)

Abstract

The method involves placing an undersea intervention robot (4), suspended by a support cable under a helicopter capable of hovering, at the vertical of a known geographical position of an undersea object (1). The robot descends and is placed near and relative to the object. Display and marking units (10) of the robot mark and identify the object. Two explosive charges of the robot are deposited on the object to neutralize the object. An independent claim is also included for a device for implementing an undersea object e.g. undersea mine, identifying and neutralizing method.

Description

Procédé et dispositif d'identification et de neutralisation d'une mine sous-marine. Method and device for identifying and neutralizing an underwater mine
La présente invention est relative à l'identification et à la neutralisation éventuelle d'un objet sous-marin susceptible d'être une mine sous-marine, dont, au préalable, la présence a été détectée et la position déterminée.The present invention relates to the identification and possible neutralization of an underwater object likely to be an underwater mine, the presence of which has previously been detected and the position determined.
Afin de préparer certaines opérations à caractère militaire, il peut être nécessaire de déblayer des zones maritimes qui au préalable ont été minées. Pour déblayer ces zones, on effectue, en général, un premier dragage suivi d'un déblayage complémentaire pour éliminer les mines qui pourraient subsister à la suite du premier dragage. Pour effectuer le déblayage complémentaire, il est nécessaire d'abord de détecter les mines qui peuvent être présentes, de repérer leurs positions, de les identifier, puis de les détruire ou au minimum de les neutraliser.In order to prepare certain operations of a military nature, it may be necessary to clear some maritime areas that have previously been mined. To clear these areas, a first dredging is generally carried out followed by additional clearing to remove any mines that may remain after the first dredging. To carry out the additional clearing, it is necessary first of all to detect the mines that may be present, to identify their positions, to identify them, then to destroy them or at least to neutralize them.
Pour reconnaître la présence de mines et repérer leurs positions on peut utiliser des robots tels que des robots télécommandés par câble ou des véhicules sous-marins automatisés équipés de moyens de détection, en particulier de détection acoustique, ainsi que des moyens pour déterminer avec précision les positions des robots, ces moyens étant en communication avec un navire accompagnateur.To recognize the presence of mines and to identify their positions, robots such as remote-controlled robots or automated underwater vehicles equipped with detection means, in particular acoustic detection, can be used, as well as means for precisely determining the locations of mines. positions of the robots, these means being in communication with an accompanying ship.
Les moyens de positionnement précis sont par exemple des systèmes de positionnement global par satellites tel que le système GPS, et de préférence, des moyens de positionnement global différentiels, c'est-à-dire des moyens comprenant des balises dont la position est connue avec précision et qui servent à déterminer par différence la position du véhicule mobile dont on veut connaître la position précise à chaque instant.The precise positioning means are, for example, global satellite positioning systems such as the GPS system, and preferably, differential global positioning means, that is to say means comprising beacons whose position is known with precision and used to determine by difference the position of the moving vehicle which we want to know the precise position at each moment.
Les robots télécommandés sont, par exemple, des sonars de l'avant portés par des navires chasseurs de mines, c'est-à-dire des navires ayant une bonne tenue aux chocs. Les véhicules sous-marins automatisés équipés de moyens de détection de mines et de détermination de leurs positions sont des petits sous-marins de dimensions relativement importantes, pouvant s'éloigner de quelques kilomètres ou quelques dizaines de kilomètres. De ce fait, ils peuvent être mis à l'eau soit à partir de la terre soit à partir d'un bâtiment accompagnateur qui n'a pas besoin d'être particulièrement résistant aux chocs.The remote-controlled robots are, for example, front sonars carried by mine-hunting ships, that is to say ships having good resistance to shocks. Automated submarine vehicles equipped with means for detecting mines and determining their positions are small submarines of relatively large size, which can move a few kilometers or a few tens of kilometers. As a result, they can be launched either from the ground or from an accompanying building that does not need to be particularly impact resistant.
Avec ces dispositifs, on détecte des objets qui ressemblent à des mines mais qui ne sont pas nécessairement des mines (habituellement, ces objets sont désignés par MLO qui signifie en anglais « Mines Like Objects »).With these devices, one detects objects that look like mines but that are not necessarily mines (usually, these objects are designated by MLO which means in English "Mines Like Objects").
En général, ces objets sont nombreux. Aussi, avant d'intervenir pour les neutraliser, il convient d'abord de les identifier afin de vérifier qu'il s'agit bien de mines.In general, these objects are numerous. Also, before intervening to neutralize them, it is first necessary to identify them to verify that they are indeed mines.
Pour identifier et éventuellement neutraliser ou détruire les mines présumées qui ont été repérées, on peut utiliser différents moyens et en particulier des robots sous-marins autopropulsés, réutilisables ou à usage unique.To identify and possibly neutralize or destroy the alleged mines that have been identified, it is possible to use different means and in particular self-propelled, reusable or single-use submarine robots.
Mais cette méthode présente plusieurs inconvénients, notamment la nécessité de mettre à l'eau ces robots à une distance importante des mines à détruire. En outre, les conditions météorologiques défavorables ou les courants contraires réduisent sensiblement l'efficacité de ces dispositifs.But this method has several disadvantages, including the need to launch these robots at a significant distance from the mines to destroy. In addition, adverse weather conditions or contrary currents significantly reduce the effectiveness of these devices.
C'est notamment le cas lorsque la vitesse des courants contraires est voisine ou supérieure à celle des robots. En effet, dans ce cas, les robots peuvent ne jamais atteindre leur cible ou ne jamais arriver à se stabiliser à son voisinage.This is particularly the case when the speed of the opposite currents is close to or greater than that of the robots. In this case, the robots may never reach their target or never stabilize in their vicinity.
Le but de la présente invention est de remédier à ces inconvénients en proposant un moyen pour identifier et éventuellement neutraliser des objets susceptibles d'être des mines sous-marines, qui puisse s'approcher d'un objet et se stabiliser à proximité de celui-ci, indépendamment des conditions météorologiques ou marines, en utilisant un véhicule porteur qui reste en dehors de la zone d'action de l'éventuelle mine. A cet effet l'invention a pour objet un procédé pour identifier et éventuellement neutraliser un objet sous-marin susceptible d'être une mine sous-marine, dont la position géographique est connue, selon lequel on utilise un robot d'intervention sous-marine suspendu sous un aéronef capable de vol stationnaire tel qu'un hélicoptère à l'aide duquel on vient disposer le robot au droit de l'objet à identifier et, éventuellement, à neutraliser, puis on identifie l'objet et, éventuellement, on le neutralise.The object of the present invention is to overcome these drawbacks by proposing a means for identifying and possibly neutralizing objects likely to be submarine mines, which can approach an object and stabilize near this object. ci, regardless of weather or marine conditions, using a carrier vehicle that remains outside the area of action of the potential mine. To this end, the subject of the invention is a method for identifying and possibly neutralizing an underwater object likely to be an underwater mine, whose geographical position is known, according to which a submarine intervention robot is used. suspended under an aircraft capable of hovering such as a helicopter with which we just have the robot to the right of the object to identify and possibly to neutralize, then identify the object and possibly it is neutralizes.
De préférence, en utilisant des moyens de positionnement géographique précis, on dispose à la verticale de la position géographique connue de l'objet sous-marin un robot d'intervention sous-marine suspendu à un câble de support monté sur un treuil porté par un aéronef capable de vol stationnaire, le robot d'intervention sous-marine comprenant au moins des moyens de visualisation et/ou de détection et éventuellement des moyens d'intervention sur une mine sous-marine reliés à des moyens de commande, le robot d'intervention sous-marine ayant un poids dans l'eau suffisant pour former un pendule raide lorsqu'il est immergé. Puis, à l'aide du treuil, on descend le robot d'intervention sous-marine afin de le disposer à proximité de l'objet sous-marin ; à l'aide des moyens de visualisation et/ou de détection, on repère l'objet sous-marin et, en déplaçant l'hélicoptère et en actionnant le treuil, on dispose le robot d'intervention dans une position par rapport à l'objet sous-marin permettant une identification et une intervention éventuelle des moyens d'intervention du robot d'intervention sur l'objet sous- marin ; à l'aide des moyens de visualisation, on identifie l'objet sous- marin, éventuellement on déclenche l'intervention des moyens d'intervention du robot d'intervention sur l'objet sous-marin, et on éloigne le robot d'intervention de l'objet sous-marin.Preferably, by using precise geographical positioning means, a submarine intervention robot suspended from a support cable mounted on a winch carried by an operator is placed vertically at the known geographical position of the underwater object. capable of hovering aircraft, the underwater intervention robot comprising at least visualization and / or detection means and possibly means of intervention on an underwater mine connected to control means, the robot of underwater intervention with sufficient weight in the water to form a steep pendulum when immersed. Then, with the help of the winch, the underwater intervention robot is lowered in order to place it near the submarine object; by means of visualization and / or detection means, the underwater object is identified and, by moving the helicopter and operating the winch, the intervention robot is positioned in a position relative to the underwater object allowing identification and possible intervention of intervention means of the intervention robot on the underwater object; using the visualization means, the underwater object is identified, the intervention means of the intervention robot are triggered on the submarine object, and the intervention robot is moved away. of the underwater object.
De préférence, les moyens d'intervention du robot d'intervention sous- marine comprennent au moins un moyen de neutralisation d'une mine sous- marine, et le déclenchement de l'intervention des moyens d'intervention du robot d'intervention consiste à déposer sur l'objet un moyen de neutralisation d'une mine sous-marine et à activer un dispositif de commande du moyen de neutralisation d'une mine sous-marine.Preferably, the intervention means of the underwater intervention robot comprise at least one means for neutralizing an underwater mine, and triggering the intervention of intervention means of the intervention robot consists of deposit on the object a means of neutralization of an underwater mine and activate a control device of the means of neutralization of an underwater mine.
Le moyen de neutralisation d'une mine sous-marine est par exemple une charge destructrice, du type omnidirectionnelle ou du type à énergie dirigée, comportant des moyens de fixation sur la mine sous-marine.The means for neutralizing an underwater mine is for example a destructive load, of the omnidirectional type or of the directed energy type, comprising fastening means on the underwater mine.
De préférence, les moyens de positionnement géographique précis comprennent des moyens de positionnement global différentiel.Preferably, the precise geographical positioning means comprise differential global positioning means.
L'invention concerne également un dispositif pour la mise en œuvre du procédé selon l'invention qui comprend un robot d'intervention sous- marine pendulaire télécommandé relié par un câble de suspension à un treuil pouvant être porté par un véhicule de transport ainsi que des moyens de commande reliés au robot et au treuil par des moyens de transfert de données et de signaux de commande, le robot d'intervention comprenant au moins un moyen de visualisation et éventuellement un moyen de détection d'un objet sous-marin et au moins un moyen de repérage du cap du robot.The invention also relates to a device for carrying out the method according to the invention which comprises a remotely controlled sub-naval intervention robot connected by a suspension cable to a winch that can be carried by a transport vehicle as well as control means connected to the robot and to the winch by means of data transfer and control signals, the intervention robot comprising at least one visualization means and possibly a means for detecting an underwater object and at least a way of locating the heading of the robot.
De préférence, le robot comprend en outre au moins un moyen d'intervention sur une mine sous-marine.Preferably, the robot further comprises at least one means of intervention on an underwater mine.
De préférence, au moins un moyen de visualisation est constitué d'une caméra de télévision à axe vertical et de moyens d'éclairage associés. En outre, au moins un moyen de visualisation peut être une caméra de télévision dont l'axe de vision est incliné par rapport à l'axe vertical de façon à permettre une vue panoramique, associée à des moyens d'éclairage, et au moins un moyen de détection peut être un sonar haute fréquence.Preferably, at least one display means consists of a vertical axis television camera and associated lighting means. In addition, at least one display means may be a television camera whose axis of vision is inclined relative to the vertical axis so as to allow a panoramic view, associated with lighting means, and at least one Detection means can be a high frequency sonar.
De préférence, le robot d'intervention sous-marine comporte au moins un moyen de stabilisation du positionnement en cap et/ou en profondeur.Preferably, the underwater intervention robot comprises at least one positioning stabilization means in cap and / or depth.
Le moyen de stabilisation du positionnement en cap peut comprendre deux bras munis de palettes, déployables à l'horizontal et fixés sur l'arbre vertical d'un moteur électrique, ainsi que des moyens de régulation de commande du moteur. Le dispositif associé à un moyen de positionnement précis comprend par exemple un moyen de positionnement global différentiel installé sur le véhicule de transport du dispositif, ou au moins une bouée de localisation acoustique associée à une balise répondeuse disposée dans le robot d'intervention sous-marine ainsi qu'à des moyens de liaison avec des moyens de commande et d'interfaçage avec un opérateur, ou encore, un sonar d'un chasseur de mines associé à des moyens de communication avec les moyens de pilotage du véhicule de transport du dispositif.The heading stabilization means may comprise two arms provided with pallets, deployable horizontally and fixed on the vertical shaft of an electric motor, as well as motor control regulating means. The device associated with a precise positioning means comprises for example a differential global positioning means installed on the transport vehicle of the device, or at least one acoustic locator buoy associated with a responder beacon disposed in the underwater intervention robot as well as means for connecting with means for controlling and interfacing with an operator, or again, a sonar of a mine hunter associated with means of communication with the control means of the transport vehicle of the device.
Le dispositif peut comporter un moyen de détection de la déviation du câble de suspension par rapport à la verticale, relié aux moyens de commande, permettant d'estimer l'écart entre la position du robot et celle du véhicule de transport.The device may comprise means for detecting the deviation of the suspension cable relative to the vertical, connected to the control means, making it possible to estimate the difference between the position of the robot and that of the transport vehicle.
De préférence, le robot d'intervention sous-marine a une densité sensiblement supérieure à 1 et un poids apparent lorsqu'il est immergé suffisant pour que le dispositif se comporte comme un pendule.Preferably, the underwater intervention robot has a density substantially greater than 1 and an apparent weight when immersed sufficient for the device to behave like a pendulum.
Les moyens de transfert de données et de signaux de commande peuvent comporter deux parties reliées par un moyen de connexion rapide.The data transfer means and control signals may comprise two parts connected by a fast connection means.
Les moyens de commande comprennent en général des moyens électroniques et informatiques notamment d'asservissement et d'interface avec un opérateur comprenant des moyens adaptés pour l'aide au pilotage du véhicule de transport, disposés à proximité des moyens de pilotage du véhicule de transport.The control means generally comprise electronic and computer means including servocontrol and interface with an operator comprising means adapted for assisting the control of the transport vehicle, arranged near the control means of the transport vehicle.
Les moyens de commande peuvent comprendre au moins un asservissement du treuil pour le pilotage en altitude du robot d'intervention sous-marine.The control means may comprise at least one servo-control of the winch for the altitude control of the underwater intervention robot.
Au moins un moyen d'intervention sur une mine sous-marine comprend un moyen de largage d'au moins un moyen de neutralisation d'une mine sous-marine constitué par exemple d'une charge destructrice de mine sous-marine qui peut être une charge explosive omnidirectionnelle éventuellement de forme annulaire, ou qui peut être une charge creuse munie d'au moins un moyen d'accrochage sur une mine sous-marine, tel qu'un bras à déclenchement automatique ou commandé au contact de la mine, équipé ou non d'au moins un moyen d'accrochage mécanique ou magnétique, ou tel qu'une ventouse hydrostatique. La charge destructrice de mine sous-marine comprend, en général, un moyen de commande de la mise à feu avec retard tel q'une minuterie, ou un moyen de déclenchement acoustique dans une fenêtre de temps prédéterminée, et éventuellement une sécurité telle qu'une sécurité hydrostatique par pressostat.At least one means of intervention on an underwater mine comprises a means for dropping at least one means for neutralizing an underwater mine constituted, for example, by an underwater mine destructive charge which may be an underwater mine. omnidirectional explosive charge optionally of annular shape, or which may be a hollow charge provided with at least one attachment means on an underwater mine, such as an arm triggered automatically or controlled in contact with the mine, equipped or not at least one mechanical fastening means or magnetic, or such as a hydrostatic suction cup. The submarine mine destructive load generally comprises a delay firing control means such as a timer, or acoustic triggering means in a predetermined time window, and optionally a security such as hydrostatic safety by pressure switch.
De préférence, le dispositif est associé à un véhicule de transport qui est un aéronef capable de vol stationnaire tel qu'un hélicoptère ou un drone.Preferably, the device is associated with a transport vehicle which is an aircraft capable of hovering such as a helicopter or a drone.
L'invention va maintenant être décrite de façon plus précise mais non limitative en regard des figures annexées, dans lesquelles : - la figure 1 représente schématiquement un dispositif de neutralisation de mine en cours d'utilisation ;The invention will now be described in a more precise but nonlimiting manner with reference to the appended figures, in which: FIG. 1 schematically represents a mine neutralization device in use;
- la figure 2 est une vue en perspective schématique d'un premier mode de réalisation d'un robot d'intervention sous-marine pour la reconnaissance et la destruction de mines sous-marines; - la figure 3 est une vue schématique en coupe d'un deuxième mode de réalisation d'un robot d'intervention sous-marine pour la destruction d'une mine sous-marine, équipé d'une charge creuse ;FIG. 2 is a schematic perspective view of a first embodiment of an underwater intervention robot for the recognition and destruction of submarine mines; - Figure 3 is a schematic sectional view of a second embodiment of an underwater intervention robot for the destruction of an underwater mine, equipped with a hollow charge;
- la figure 4 est une vue schématique d'une charge creuse pour la destruction d'une mine sous-marine. Afin de reconnaître et de détruire un objet sous-marin 1 , qui est une mine sous-marine, disposé sous le niveau de la mer 2, on utilise un dispositif repéré généralement par 3, constitué d'un robot d'intervention sous-marine 4 suspendu par un câble 5 à un treuil 6 porté par un hélicoptère 7 équipé pour pouvoir effectuer des vols stationnaires même dans de mauvaises conditions météorologiques.- Figure 4 is a schematic view of a hollow charge for the destruction of an underwater mine. In order to recognize and destroy an underwater object 1, which is an underwater mine, disposed below sea level 2, a device generally identified by 3, consisting of an underwater intervention robot, is used. 4 suspended by a cable 5 to a winch 6 carried by a helicopter 7 equipped to perform stationary flights even in bad weather conditions.
Le robot sous-marin 4 comporte des moyens repérés généralement par 10 de visualisation et de détection d'une mine, disposés dans sa partie inférieure. Il comporte également des moyens de stabilisation en position sous l'eau repérés généralement par 11 , permettant un positionnement en cap, et également des moyens de positionnement en profondeur (non visibles sur la figure). En outre, il porte des moyens 12 de destruction de mines sous-marines. Le robot est en matériaux amagnétiques et comporte suffisamment peu d'équipements électriques ou électroniques pour avoir une signature magnétique faible.The submarine robot 4 comprises means generally marked by 10 for viewing and detecting a mine, arranged in its lower part. It also comprises stabilization means in position underwater generally marked 11, allowing positioning in the cap, and also depth positioning means (not visible in the figure). In addition, it carries means of destruction of underwater mines. The robot is made of non-magnetic materials and has enough electrical or electronic equipment to have a weak magnetic signature.
Le câble 5 est destiné d'une part à supporter le robot sous-marin 4 et d'autre part à transmettre des informations entre le robot 4 et un pupitre 9 de commande et d'interface avec un opérateur, disposé à l'intérieur de l'hélicoptère 7. Il comporte un brin final 5A et un brin principal 5B reliés par un dispositif de connexion rapide 8.The cable 5 is intended on the one hand to support the underwater robot 4 and on the other hand to transmit information between the robot 4 and a control panel 9 and an interface with an operator, arranged inside the the helicopter 7. It comprises a final strand 5A and a main strand 5B connected by a quick connection device 8.
L'hélicoptère est équipé au moins de moyens de communication avec des moyens de positionnement géographique précis 15.The helicopter is equipped at least with communication means with precise geographic positioning means 15.
Pour déminer une zone dans laquelle on a repéré des objets potentiellement dangereux, on met à disposition du pilote de l'hélicoptère la liste des objets à identifier, repérés par leurs positions géographiques précises sous forme par exemple de relevés de leurs positions GPS. Cette liste est, en général sous forme d'un fichier informatique.To clear an area in which potentially dangerous objects have been identified, the helicopter pilot is provided with the list of objects to be identified, identified by their precise geographical positions, for example by taking their GPS positions. This list is usually in the form of a computer file.
Puis, avec l'hélicoptère et en utilisant les moyens de positionnement géographique précis, on transporte le robot sous-marin 4 au dessus du niveau de la mer jusqu'à l'amener à la verticale de la position théorique d'un objet 1 à identifier et éventuellement détruire. Lorsque l'hélicoptère est dans une position voulue, à l'aide du treuil 6, on fait descendre le robot sous-marin jusqu'à ce qu'il soit immergé à une profondeur correspondant à la profondeur à laquelle se trouve en principe l'objet à identifier. A l'aide des moyens de visualisation et/ou de repérage, qui seront décrits plus en détail plus loin, un opérateur essaye alors de repérer l'objet. Lorsque l'objet est repéré, des indications précises sont transmises au pilote, ou plus généralement aux moyens de pilotage de l'hélicoptère pour que celui-ci, en déplaçant l'hélicoptère et éventuellement en agissant sur le treuil, rapproche le robot sous-marin 4 de l'objet 1 de façon à ce que les moyens de visualisation du robot permettent de voir suffisamment bien l'objet 1 pour pouvoir l'identifier. Cette identification visuelle peut être assistée par des logiciels d'analyse d'image spécialisés. Une fois l'objet 1 identifié, et s'il s'agit d'une mine, l'opérateur envoie pour instruction au robot sous-marin 4 de déposer sur la mine au moins un moyen 12 de neutralisation d'une mine constitué par exemple d'une charge d'explosif, dont il enclenche un moyen de mise à feu comportant au moins une temporisation. Une fois le moyen de mise à feu du moyen de neutralisation de la mine enclenché, l'opérateur commande la remontée du robot d'intervention sous-marine 4 en rembobinant le câble 5 autour du treuil 6 de façon à le sortir de l'eau et à l'éloigner de la zone dans laquelle la mine peut exploser. L'hélicoptère peut alors s'éloigner de la zone dans laquelle se trouve la mine et peut, soit retourner à sa base, soit intervenir pour identifier et éventuellement détruire un autre objet.Then, with the helicopter and using the precise geographical positioning means, the underwater robot 4 is transported above sea level until it is brought vertically from the theoretical position of an object 1 to identify and possibly destroy. When the helicopter is in a desired position, with the aid of the winch 6, the underwater robot is lowered until it is submerged to a depth corresponding to the depth at which it is normally located. object to be identified. With the aid of display and / or registration means, which will be described in more detail below, an operator then tries to locate the object. When the object is located, precise indications are transmitted to the pilot, or more generally to the control means of the helicopter so that the latter, by moving the helicopter and possibly by acting on the winch, brings the robot under control. 4 of the object 1 so that the display means of the robot can see the object 1 well enough to identify it. This visual identification can be assisted by specialized image analysis software. Once the object 1 has been identified, and if it is a mine, the operator sends instructions to the submarine robot 4 to deposit on the mine at least one means 12 for neutralizing a mine constituted by example of an explosive charge, which it triggers a firing means having at least one timer. Once the means for firing the mine neutralization means engaged, the operator controls the rise of the underwater intervention robot 4 by rewinding the cable 5 around the winch 6 so as to get it out of the water and away from the area where the mine can explode. The helicopter can then move away from the area in which the mine is located and can either return to its base or intervene to identify and possibly destroy another object.
L'hélicoptère étant capable de vol stationnaire et n'étant pas soumis aux courants marins, il est facile d'amener le robot à proximité de l'objet à identifier et de le maintenir dans cette position, ce que ne peut pas toujours faire un robot sous-marin auto-propulsé.Since the helicopter is capable of hovering and is not subject to sea currents, it is easy to bring the robot close to the object to be identified and to keep it in that position, which can not always be done self-propelled underwater robot.
Si l'hélicoptère vole à plus de 50 mètres, et de préférence plus de 100 m, au-dessus du niveau de la mer, on peut considérer qu'il est hors de portée de l'explosion d'une mine sous-marine. L'intervention peut alors être faite en toute sécurité.If the helicopter flies more than 50 meters, and preferably more than 100 meters, above sea level, it can be considered to be out of reach of the explosion of an underwater mine. The intervention can then be done safely.
Pour des raisons diverses, le robot peut être endommagé au cours de la mission. Le câble en deux parties permet de remplacer le robot endommagé par un robot neuf, sans avoir à changer tout le câble.For various reasons, the robot may be damaged during the mission. The two-part cable allows the damaged robot to be replaced by a new robot, without having to change the entire cable.
Les moyens de visualisation et/ou de détection des mines sont, d'une part une ou plusieurs caméras de télévision miniaturisées accompagnées d'un moyen d'éclairage, et d'autre part, éventuellement, un sonar haute fréquence.The means for viewing and / or detecting the mines are, firstly one or more miniaturized television cameras accompanied by a lighting means, and secondly, possibly, a high frequency sonar.
Les caméras de télévision dont les dispositions seront décrites plus en détail ultérieurement, sont destinées à observer le voisinage du robot d'intervention sous-marine 4 au moins dans un champ de vision qui se définit par rapport à la vertical soit par un cône ayant un angle au sommet d'environ 45°, soit par un champ de vision panoramique qui permet d'observer la mer dans une demi-sphère en dessous d'un plan horizontal.The television cameras, the arrangements of which will be described in more detail later, are intended to observe the vicinity of the underwater intervention robot 4 at least in a field of vision which is defined with respect to the vertical or by a cone having a apex angle of about 45 °, or by a panoramic field of vision which allows to observe the sea in a hemisphere below a horizontal plane.
Toutes ces caméras sont équipées de moyens d'éclairage pour permettre de voir à des profondeurs relativement importantes et jusqu'à des distances d'une dizaine de mètres.All these cameras are equipped with lighting means to allow to see at relatively large depths and up to distances of about ten meters.
Ces moyens de visualisation et de détection peuvent comprendre également un sonar haute fréquence afin de pouvoir détecter des objets au voisinage du robot à des distances qui peuvent être comprises entre une vingtaine de mètres et une centaine de mètres, sensiblement supérieures aux distances accessibles par la vision à l'aide des caméras de télévision.These visualization and detection means may also include a high frequency sonar so as to be able to detect objects in the vicinity of the robot at distances that may be between about twenty meters and a hundred meters, substantially greater than the distances accessible by the vision. using television cameras.
Outre ces moyens de reconnaissance et de détection, le robot d'intervention sous-marine 4 dispose de moyens de détection de son cap, nécessaires pour définir les coordonnées des objets qu'il pourra repérer. Ces moyens de détection du cap incorporent par exemple un compas magnétique.In addition to these recognition and detection means, the underwater intervention robot 4 has means of detecting its heading, necessary to define the coordinates of the objects it can identify. These cap detection means incorporate for example a magnetic compass.
Afin de faciliter l'utilisation des moyens de visualisation et de détection, le robot d'intervention sous-marine 4 est équipé de moyens de stabilisation en position 11 qui, en particulier, sont des moyens de stabilisation en cap destinés à empêcher la rotation du robot autour de son axe vertical. En effet, en l'absence de tels moyens, le robot suspendu au bout d'un câble de grande longueur aurait tendance à tourner sur lui-même, ce qui rendrait très difficile l'exploitation des images et nécessiterait des moyens complexes de mesure en permanence de l'orientation des moyens de détection par rapport à un cap déterminé. Ces moyens de stabilisation du cap sont des moyens connus en eux- mêmes, constitués notamment par des palettes montées au bout de bras horizontaux et montés sur un moteur à axe vertical dont le mouvement est asservi à une mesure d'orientation d'un point de référence du robot par rapport à un cap déterminé à l'aide de moyens de mesure du cap. Afin également de faciliter le repérage et l'observation de l'objet à identifier, le robot est stabilisé en profondeur en utilisant des mesures qui peuvent être la position du robot par rapport au fond de la mer mesurée à l'aide d'un sondeur ou la position du robot par rapport à la surface de la mer mesurée par la pression. Ces mesures sont utilisées pour commander le treuil de façon à asservir la longueur du câble à une position précise du robot.In order to facilitate the use of the visualization and detection means, the underwater intervention robot 4 is equipped with stabilization means in position 11 which, in particular, are cap stabilization means designed to prevent the rotation of the robot around its vertical axis. Indeed, in the absence of such means, the robot suspended at the end of a long cable would tend to turn on itself, which would make it very difficult to exploit images and require complex means of measurement in permanence of the orientation of the detection means with respect to a determined heading. These means for stabilizing the heading are means known in themselves, consisting in particular of pallets mounted at the end of horizontal arms and mounted on a vertical axis motor whose movement is controlled by an orientation measurement of a point of rotation. reference of the robot with respect to a heading determined using means for measuring the heading. In order also to facilitate the identification and observation of the object to be identified, the robot is stabilized in depth using measures that can be the position of the robot with respect to the seabed measured using a sounder or the position of the robot relative to the sea surface measured by the pressure. These measurements are used to control the winch so as to enslave the length of the cable to a precise position of the robot.
La position de l'objet 1 est repérée par rapport à sa position géographique absolue de même que la position de l'hélicoptère 7 est déterminée également par sa position géographique absolue. On peut donc disposer le robot d'intervention sous-marine 4 au dessus de l'objet 1 en faisant coïncider les positions géographiques absolues de l'objet 1 et de l'hélicoptère 7 en l'absence de courant.The position of the object 1 is marked with respect to its absolute geographical position as the position of the helicopter 7 is also determined by its absolute geographical position. It is therefore possible to have the underwater intervention robot 4 above the object 1 by making the absolute geographical positions of the object 1 and the helicopter 7 coincide in the absence of current.
Cependant, si la zone dans laquelle se trouve l'objet est une zone traversée par des courants, le robot 4 peut être entraîné par le courant de telle sorte que le câble de support 5 ne soit plus vertical. Lorsque le robot 4 se trouve à proximité de l'objet 1 , l'hélicoptère n'est alors plus à la vertical de l'objet 1. Afin de compenser ces effets dus au courant et faciliter le positionnement du robot 4 par rapport à l'objet 1 , on peut mesurer la déviation du câble 5 par rapport à la vertical à l'aide de détecteurs 13 disposés dans une nacelle 14 située sous le treuil 6. Comme on l'a indiqué précédemment, le dispositif est associé à des moyens 15 de positionnement géographique précis. Ces moyens de positionnement géographique précis 15 sont notamment des moyens de positionnement géographique précis différentiels (GPS différentiels), qui permettent au pilote de l'hélicoptère de connaître avec précision la position de son appareil. De tels moyens de positionnement géographique précis, absolus ou différentiels, sont connus en eux-même.However, if the area in which the object is located is an area through which currents flow, the robot 4 can be driven by the current so that the support cable 5 is no longer vertical. When the robot 4 is close to the object 1, the helicopter is no longer vertical to the object 1. To compensate for these effects due to the current and facilitate the positioning of the robot 4 relative to the 1, it is possible to measure the deflection of the cable 5 with respect to the vertical by means of detectors 13 arranged in a nacelle 14 located under the winch 6. As indicated previously, the device is associated with means 15 precise geographic positioning. These precise geographic positioning means 15 are in particular differential geographical positioning means (GPS differential), which allow the pilot of the helicopter to know precisely the position of his aircraft. Such precise geographic positioning means, absolute or differential, are known in themselves.
Plusieurs modes de réalisation et de fonctionnement sont possibles. Dans un premier mode de réalisation et de fonctionnement, la position géographique précise de l'objet 1 est déterminée à l'aide d'un moyen de positionnement géographique différentiel précis. Les coordonnées de l'objet sont alors envoyées à l'hélicoptère. A partir de ces données et d'information provenant du système de positionnement géographique précis de l'hélicoptère, ainsi que, éventuellement, d'information en provenance du capteur 13 des déplacements du câble par rapport à la vertical, le pilote amène le robot à la vertical de l'objet 1. Dans un deuxième mode de réalisation et de fonctionnement, on a, au préalable, disposé des balises de positionnement acoustique au voisinage de l'objet et on a disposé une balise répondeuse sur le robot d'intervention sous-marine 4.Several embodiments and operations are possible. In a first embodiment and operation, the precise geographical position of the object 1 is determined using a precise differential geographical positioning means. The coordinates of the object are then sent to the helicopter. From these data and information from the precise geographical positioning system of the helicopter, as well as, possibly, information from the sensor 13 of the movements of the cable relative to the vertical, the pilot brings the robot to the vertical of the object 1. In a second embodiment and operation, it has previously disposed of acoustic positioning beacons in the vicinity of the object and there is arranged a responder beacon on the submarine intervention robot 4.
Les balises de positionnement acoustique, qui, de préférence, sont au nombre minimum de trois, permettent de déterminer la position précise du robot d'intervention sous-marine par les interférences avec la balise répondeuse du robot.The acoustic positioning beacons, which preferably have a minimum of three, make it possible to determine the precise position of the underwater intervention robot by interferences with the responder beacon of the robot.
Cette position précise du robot est envoyée à un moyen de traitement de l'information disposé par exemple sur un navire d'accompagnement situé à une certaine distance. Ces informations sont traduites sous forme de consignes de positionnement envoyées à l'hélicoptère, lequel applique ces nouvelles consignes en utilisant son moyen de positionnement géographique précis différentiel.This precise position of the robot is sent to an information processing means arranged for example on an accompanying ship located at a distance. This information is translated in the form of positioning instructions sent to the helicopter, which applies these new instructions using its precise geographical differential positioning means.
Dans un troisième mode de réalisation, la position relative de l'objet 1 par rapport au robot 4 est déterminée à l'aide du sonar d'un navire chasseur de mine accompagnateur qui transmet les informations correspondantes, par radio, à l'hélicoptère.In a third embodiment, the relative position of the object 1 relative to the robot 4 is determined using the sonar of an accompanying mine-hunter ship which transmits the corresponding information by radio to the helicopter.
Le vecteur correspondant à l'écart de position entre le robot d'intervention sous-marine 4 et l'objet 1 est alors utilisé par un moyen adapté pour déterminer un ajustement de la consigne de positionnement de l'hélicoptère, laquelle consigne est alors appliquée par le pilote de l'hélicoptère.The vector corresponding to the position difference between the underwater intervention robot 4 and the object 1 is then used by a means adapted to determine an adjustment of the positioning setpoint of the helicopter, which instruction is then applied by the pilot of the helicopter.
Lorsque le robot d'intervention sous-marine 4 comporte à la fois une caméra verticale, des caméras de télévision panoramiques et un sonar, la recherche d'un objet au voisinage de sa position théorique, se fait par des étapes successives qu'on va décrire maintenant. Tout d'abord, lorsque le robot est à une distance de l'objet trop importante pour pouvoir voir l'objet avec les caméras de télévision, la présence de celui-ci est détectée par le sonar haute fréquence qui renvoie vers le pupitre de commande des indications sur la distance de l'objet par rapport au robot et l'azimut de la position de l'objet par rapport à un cap de référence du robot. La détermination de l'azimut de l'objet par rapport au cap de référence se fait à l'aide du moyen de mesure du cap dont dispose le robot.When the underwater intervention robot 4 comprises both a vertical camera, panoramic television cameras and a sonar, the search for an object in the vicinity of its theoretical position, is done by successive steps that are going describe now First, when the robot is at a distance from the object too large to be able to see the object with the television cameras, the presence of it is detected by the high frequency sonar which returns to the control console indications on the distance of the object with respect to the robot and the azimuth of the position of the object with respect to a reference heading of the robot. The determination of the azimuth of the object with respect to the reference heading is made using the means of measuring the heading available to the robot.
A l'aide de ces informations, des indications sont données au pilote de l'hélicoptère pour qu'il déplace l'hélicoptère de façon à rapprocher le robot de l'objet. Lorsque le robot est suffisamment proche de l'objet, celui-ci devient visible par les caméras de télévision panoramique qui sont alors utilisées pour le repérer. Eventuellement à l'aide d'un logiciel d'analyse d'image, on déduit des images des indications sur les déplacements à faire effectuer par l'hélicoptère pour affiner le positionnement du robot d'intervention sous- marine par rapport à l'objet, éventuellement en modifiant son immersion en intervenant à l'aide du treuil 6.With this information, guidance is given to the helicopter pilot to move the helicopter to bring the robot closer to the object. When the robot is close enough to the object, it becomes visible by the panoramic television cameras which are then used to locate it. Possibly with the aid of an image analysis software, images are deduced from the indications on the movements to be made by the helicopter to refine the positioning of the underwater intervention robot with respect to the object. , possibly by modifying its immersion by intervening with the aid of the winch 6.
Lorsque l'objet est suffisamment visible par la caméra verticale, l'image de celle-ci est analysée par l'opérateur qui vérifie qu'il s'agit bien d'une mine et l'identifie. Pour cette analyse, l'opérateur peut être assisté par un logiciel spécialisé.When the object is sufficiently visible by the vertical camera, the image of it is analyzed by the operator who verifies that it is indeed a mine and identifies it. For this analysis, the operator can be assisted by specialized software.
Lorsque la mine a été bien identifiée, l'opérateur envoie au robot 4 un ordre de dépôt sur la mine d'un moyen de neutralisation, tel qu'une charge 12 de destruction de la mine, laquelle charge est alors déclenchée. Comme on le verra plus loin, les moyens de neutralisation de la mine sont soit des charges omnidirectionnelles de forme annulaire qui s'emboîtent sur la mine, soit des charges creuses munies de moyens de fixation sur la mine.When the mine has been correctly identified, the operator sends the robot 4 a deposition order on the mine of a neutralization means, such as a load 12 for destroying the mine, which charge is then triggered. As will be seen below, the means for neutralizing the mine are either ring-shaped omnidirectional charges that fit into the mine, or hollow charges provided with fastening means on the mine.
Les moyens de déclenchement de ces moyens de destruction de la mine sont par exemple des minuteries de mise à feu qui laissent entre le moment où on a déposé la charge sur la mine et le moment où elle explose, un délai suffisant pour pouvoir éloigner le robot.The triggering means of these means of destruction of the mine are for example firing timers which leave between the the moment the charge is placed on the mine and the moment it explodes, enough time to move the robot away.
Afin d'améliorer la sécurité du dispositif, le moyen de déclenchement du moyen de neutralisation ou de destruction de la mine peut être un moyen de déclenchement acoustique dans une fenêtre de temps prédéterminée, complété éventuellement par une sécurité telle qu'une sécurité hydrostatique par pressostat.In order to improve the safety of the device, the means for triggering the means for neutralizing or destroying the mine may be an acoustic triggering means in a predetermined time window, supplemented optionally by a safety device such as a hydrostatic safety device by means of a pressure switch. .
L'intérêt d'un moyen de déclenchement acoustique dans une fenêtre de temps prédéterminée est qu'il ne se déclenche que lorsqu'il reçoit un signal acoustique qui peut être envoyé à volonté par un opérateur, par exemple par l'opérateur qui est dans l'hélicoptère. Cela peut permettre de déposer des moyens de neutralisation sur un ensemble de mines et de les déclencher tous simultanément. Cela peut aussi permettre à l'hélicoptère de retarder ou d'annuler le déclenchement de l'explosion du dispositif de destruction de la mine lorsqu'il a des difficultés, de façon à assurer sa propre sécurité.The advantage of an acoustic triggering means in a predetermined time window is that it is triggered only when it receives an acoustic signal that can be sent at will by an operator, for example by the operator who is in the helicopter. This can make it possible to deposit neutralization means on a set of mines and to trigger them all simultaneously. It may also allow the helicopter to delay or cancel the triggering of the mine destruction device explosion when it has difficulties, so as to ensure its own safety.
On va maintenant décrire plus en détail un premier mode de réalisation d'un robot d'intervention sous-marine représenté à la figure 2.A first embodiment of an underwater intervention robot represented in FIG. 2 will now be described in greater detail.
Ce robot repéré généralement par 4 comporte un corps 40 cylindrique, vertical, comprenant, à sa partie supérieure, des moyens représentés généralement par 11 de stabilisation en cap constitués de deux bras mobilesThis robot generally marked by 4 comprises a cylindrical body 40, vertical, comprising, at its upper part, means generally represented by 11 stabilization in cap consisting of two movable arms
11A comportant chacun à leur extrémité une palette 11 B, et reliés à l'axe d'un moteur 11C piloté à l'aide d'une régulation, non représentée sur la figure, destinée à assurer la stabilité du cap d'un point de référence du robot. Cette régulation utilise un dispositif de mesure du cap et un moyen de mesure de l'angle que fait la direction d'un point de référence du robot et un cap de référence.11A each having at their end a pallet 11 B, and connected to the axis of a motor 11C controlled by means of a regulation, not shown in the figure, intended to ensure the stability of the heading of a point of robot reference. This control uses a device for measuring the heading and a means for measuring the angle that the direction of a reference point of the robot and a reference heading.
Le robot est suspendu au brin inférieur 5A d'un câble 5, comme on l'a indiqué précédemment, le câble étant destiné d'une part à assurer la suspension mécanique du robot et d'autre part à transmettre des informations, et éventuellement de l'énergie électrique entre le robot et un pupitre de commande.The robot is suspended from the lower strand 5A of a cable 5, as indicated above, the cable being intended firstly to ensure the mechanical suspension of the robot and secondly to transmit information, and possibly electrical energy between the robot and a console.
La partie inférieure du corps 40 du robot comporte des moyens de visualisation et de repérage repérés généralement par 10, constitués par une caméra de télévision verticale 101 accompagnée de moyens d'éclairage qui regarde dans une direction verticale, par plusieurs caméras de télévision panoramiques 102 accompagnées également de moyens d'éclairage adaptés, et par un sonar haute fréquence 103 monté mobile de façon à pouvoir balayer l'horizon autour du robot 4. L'ensemble de ces moyens de visualisation et de repérage sont reliés au pupitre de commande du dispositif (non représenté sur la figure), par l'intermédiaire du câble. Le minimum d'équipements électroniques associés étant situé dans le corps du robot.The lower part of the body 40 of the robot comprises viewing and marking means generally marked by 10, constituted by a vertical television camera 101 accompanied by lighting means which looks in a vertical direction, by several panoramic television cameras 102 accompanied also adapted lighting means, and by a high frequency sonar 103 mounted movable so as to scan the horizon around the robot 4. All of these viewing and locating means are connected to the control panel of the device ( not shown in the figure), via the cable. The minimum of associated electronic equipment being located in the body of the robot.
Le corps du robot comporte à sa périphérie les moyens généralement repérés par 12 de destruction ou de neutralisation d'une mine. Ces moyens sont constitués de deux charges explosives 121 et 122 de forme annulaire, comprenant chacune un moyen d'allumage temporisé ou à déclenchement par signal acoustique dans une fenêtre de temps 150 et 151 respectivement, maintenues sur le robot par des moyens de maintien qui peuvent être déverrouillés séparément l'un après l'autre, de façon à pouvoir laisser tomber une charge sur une mine particulière.The body of the robot has at its periphery the means generally identified by 12 of destruction or neutralization of a mine. These means consist of two explosive charges 121 and 122 of annular shape, each comprising an ignition means timed or triggered by acoustic signal in a time window 150 and 151 respectively, held on the robot by holding means which can to be unlocked separately one after the other, so that a load can be dropped on a particular mine.
Ainsi, lorsque l'on amène le robot au-dessus d'une première mine, on peut déverrouiller la première charge explosive 121 qui glisse le long du corps du robot et vient se déposer sur la tête de la mine et qui s'y maintient du fait de sa forme annulaire. Cette charge explosive peut être liée au robot par un fil de commande lui-même relié à travers le câble 5A au pupitre de commande du dispositif, de façon à ce que l'opérateur puisse déclencher le moyen d'allumage de la charge. Le déclenchement du moyen d'allumage de la charge (ou plus précisément de sa minuterie), peut également être automatique au moment du largage de la charge. Dans l'exemple décrit, le robot comporte deux charges explosives, mais il peut en comporter un nombre plus important.Thus, when the robot is brought over a first mine, one can unlock the first explosive charge 121 which slides along the robot body and is deposited on the head of the mine and which is maintained there because of its annular shape. This explosive charge can be linked to the robot by a control wire itself connected through the cable 5A to the control panel of the device, so that the operator can trigger the ignition means of the load. The triggering of the ignition means of the load (or more precisely of its timer), can also be automatic at the time of the release of the load. In the example described, the robot has two explosive charges, but it can include a larger number.
Ce robot qui comporte deux charges explosives 121 et 122, peut être utilisé pour neutraliser une deuxième mine. Dans ce cas, après avoir déposé la première charge 121 sur une première mine, on déplace le robot pour l'amener au-dessus d'une deuxième mine. On déverrouille alors la deuxième charge 122 de façon à ce qu'elle glisse le long du corps du robot et vienne se déposer sur la deuxième mine, et on amorce la deuxième charge.This robot which has two explosive charges 121 and 122, can be used to neutralize a second mine. In this case, after depositing the first charge 121 on a first mine, the robot is moved to bring it over a second mine. The second load 122 is then unlocked so that it slides along the body of the robot and comes to rest on the second mine, and the second load is initiated.
Les moyens de verrouillage et déverrouillage des différentes mines sont des moyens connus en eux-mêmes que l'homme du métier peut facilement réaliser et qui consistent éventuellement en des bras ou des pions commandés par des vérins électromagnétiques.The locking and unlocking means of the various mines are means known in themselves that the skilled person can easily achieve and which eventually consist of arms or pins controlled by electromagnetic cylinders.
Bien que cela ne soit pas visible sur la figure, le robot contient à l'intérieur de son corps 40 une source d'électricité pour le moteur 11C du moyen de régulation en cap et éventuellement pour la commande des moyens de verrouillage et de déverrouillage des charges explosives. Cette source d'électricité est par exemple une pile. Le robot peut également comporter des moyens d'alimentation électrique des caméras de télévision, de leurs moyens d'éclairage, du sonar, constitués également de piles. Enfin, le robot comporte des moyens de détermination du cap, par exemple un compas magnétique, et des moyens de détermination de la position du robot, d'une part par rapport au fond de la mer, par exemple un sondeur acoustique, et d'autre part par rapport à la surface de la mer, par exemple un moyen de mesure de la pression. Ces moyens comprennent également leurs alimentations électriques.Although this is not visible in the figure, the robot contains inside its body 40 a source of electricity for the motor 11C of the cap regulation means and possibly for the control of the locking and unlocking means of the explosive charges. This source of electricity is for example a battery. The robot may also include power supply means for television cameras, their lighting means, sonar, also consisting of batteries. Finally, the robot comprises means for determining the heading, for example a magnetic compass, and means for determining the position of the robot, on the one hand with respect to the seabed, for example an acoustic sounder, and on the other hand in relation to the sea surface, for example a means of measuring the pressure. These means also include their power supplies.
Dans une variante de réalisation, le robot peut être alimenté en électricité par le câble de liaison avec l'hélicoptère.In an alternative embodiment, the robot can be supplied with electricity by the connection cable with the helicopter.
Le robot peut être utilisé aussi bien pour neutraliser des mines à orin que des mines disposées au fond de la mer. On va maintenant décrire, en regard des figures 3 et 4, un deuxième mode de réalisation du robot. Le robot repéré généralement 4' à la figure 3 comporte un corps 40' en forme de cloche dont la partie supérieure est équipée un moyen de stabilisation en cap 11' identique au moyen décrit dans le mode de réalisation précédent et comportant deux bras articulés 11 'A, munis de palettes 11'B. Ce corps du robot est suspendu au brin inférieur 5A d'un câble 5 identique au câble précédent. Une caméra de télévision de vision verticale 101 ', des caméras de télévision panoramiques 102' et un sonar haute fréquence 103' sont disposés à la partie inférieure du corps 40'. Des moyens électroniques et de mesures 42', 43', 44' sont destinés à assurer le fonctionnement des caméras de télévision 101', 102' du sonar 103', d'un moyen de mesure du cap tel qu'un campas magnétique, d'un moyen de mesure de la profondeur sous l'eau tel qu'un capteur de pression, et d'un moyen de mesure de la distance par rapport au fond tel qu'un sondeur.The robot can be used both to neutralize mines orin mines located at the bottom of the sea. We will now describe, with reference to Figures 3 and 4, a second embodiment of the robot. The robot generally labeled 4 'in FIG. 3 comprises a bell-shaped body 40' whose upper part is equipped with cap stabilization means 11 'identical to the means described in the preceding embodiment and comprising two articulated arms 11' A, equipped with pallets 11'B. This body of the robot is suspended from the lower strand 5A of a cable 5 identical to the previous cable. A vertical vision television camera 101 ', panoramic television cameras 102' and a high frequency sonar 103 'are arranged at the lower part of the body 40'. Electronic and measurement means 42 ', 43', 44 'are intended to ensure the operation of the television cameras 101', 102 'of the sonar 103', a heading measuring means such as a magnetic campas, means for measuring the depth under water such as a pressure sensor, and means for measuring the distance from the bottom such as a sounder.
Le corps du robot contient également des sources de puissance électrique, par exemple des piles, pour commander les caméras de télévision, les sonars, les autres équipements électroniques, ainsi que différents moteurs dont est équipé le robot afin de simplifier la conception du câble, des connecteurs et du connecteur tournant.The body of the robot also contains sources of electrical power, for example batteries, to control television cameras, sonars, other electronic equipment, as well as various engines that the robot is equipped with in order to simplify the design of the cable, connectors and rotating connector.
Dans une variante de réalisation, l'alimentation en électricité peut être assurée depuis l'extérieur par le câble 5.In an alternative embodiment, the power supply can be provided from the outside by the cable 5.
Outre ces moyens de mesure et de détection, le robot comporte à l'intérieur de la cloche 40' un moyen 12' de destruction d'une mine constitué d'une charge creuse 121' munie d'un dispositif d'allumage temporisé 150', comportant une ventouse hydraulique destinée à plaquer la charge creuse sur une mine à orin l'. La ventouse hydraulique est constituée d'une jupe 130' reliée par un tuyau 131 ' à une pompe 132'. La charge 12' est suspendue à l'intérieur du robot par un dispositif 41' qui permet de la faire descendre et de la larguer et de l'abandonner, plaquée sur une mine qu'on souhaite détruire. Contrairement au cas précédent, le robot n'embarque qu'une seule charge creuse et ne peut, dans ce cas là, détruire qu'une seule mine à la fois. Comme dans le cas précédent, l'essentiel du corps du robot est réalisé en matériaux amagnétiques et les équipements électriques ou électroniques sont réduits au minimum de façon à avoir un robot dont la signature magnétique est la plus faible possible.In addition to these measuring and detection means, the robot comprises inside the bell 40 'a means 12' for destroying a mine consisting of a hollow charge 121 'provided with a timed ignition device 150' , comprising a hydraulic suction cup for plating the hollow charge on an eye mine. The hydraulic suction cup consists of a skirt 130 'connected by a pipe 131' to a pump 132 '. The load 12 'is suspended inside the robot by a device 41' which makes it possible to lower it and to dump it and to abandon it, plated on a mine that one wishes to destroy. Unlike the previous case, the robot embarks only one hollow charge and can, in this case, destroy only one mine at a time. As in the previous case, most of the body of the robot is made of non-magnetic materials and the electrical or electronic equipment is reduced to a minimum so as to have a robot whose magnetic signature is the lowest possible.
Dans tous les cas, les équipements électroniques disposés à l'intérieur du robot sont les équipements qui ont strictement besoin d'être situés dans le robot pour assurer son fonctionnement. Les équipements complémentaires sont reportés loin du robot, par exemple dans le pupitre de commande situé dans l'hélicoptère, et sont reliés au robot par le câble 5.In all cases, the electronic equipment arranged inside the robot are the equipment that strictly needs to be located in the robot to ensure its operation. The additional equipment is carried away from the robot, for example in the control console located in the helicopter, and is connected to the robot by the cable 5.
De préférence, le corps du robot et tous les équipements qui peuvent l'être, sont constitués de matériaux amagnétiques de façon à assurer une signature magnétique la plus faible possible.Preferably, the body of the robot and all the equipment that can be, are made of non-magnetic materials to ensure a magnetic signature as low as possible.
Dans tous les cas, la densité du robot doit être sensiblement supérieure à 1 et son poids apparent suffisant pour assurer un comportement de pendule, mais pas trop élevé pour rester compatible avec l'usage d'un hélicoptère.In all cases, the robot's density must be substantially greater than 1 and its apparent weight sufficient to ensure a pendulum behavior, but not too high to remain compatible with the use of a helicopter.
En général, le robot ne dispose pas de moyens de propulsion propres. Mais, néanmoins, il peut être utile de prévoir des petits propulseurs, tels que des hélices, pour faciliter les mouvements fins d'approche finale de la position de la mine à détruire. Cependant, ces moyens, lorsqu'ils existent, restent notoirement insuffisants pour assurer l'autonomie de déplacement du robot.In general, the robot does not have its own propulsion means. But, nevertheless, it may be useful to provide small thrusters, such as propellers, to facilitate the final movements of final approach of the position of the mine to be destroyed. However, these means, when they exist, remain notoriously insufficient to ensure the autonomy of movement of the robot.
En ce qui concerne les moyens de commande et d'interface avec l'opérateur, le dispositif peut comprendre des moyens informatiques et d'affichage disposés dans l'hélicoptère. Ces moyens informatique et d'affichage peuvent utiliser des logiciels d'analyse d'image et de reconnaissance d'image pour faciliter l'interprétation des images télévision. Ils peuvent utiliser également des logiciels qui exploitent les données relatives à la détection de la mine, à la position de celle-ci et à la position de l'hélicoptère, notamment les données fournies par les dispositifs de positionnement précis, pour afficher des consignes pour le pilote de l'hélicoptère, voire pour envoyer des consignes à un système de pilotage automatique. Ces moyens peuvent également fournir des signaux de commande au treuil et aux moyens de pilotage de l'hélicoptère pour stabiliser automatiquement le robot en profondeur.As regards the means of control and interface with the operator, the device may include computer and display means arranged in the helicopter. These computer and display means may use image analysis and image recognition software to facilitate the interpretation of television images. They may also use software that exploits mine detection, mine position, and helicopter position data, including data provided by the accurate positioning devices, to display guidance for the pilot of the helicopter, or even to send instructions to a system of autopilot. These means can also provide control signals to the winch and the control means of the helicopter to automatically stabilize the robot in depth.
Cette description de moyens n'est pas exhaustive et l'homme du métier pourra et saura prévoir tous les moyens de commande et tous les automatismes nécessaires.This description of means is not exhaustive and the skilled person can and will provide all control means and all automation required.
De même, la description des équipements dont dispose le robot n'est pas limitative, et le robot peut être équipé de tout dispositif, qui remplit les fonctions souhaitées, pourvu que ses caractéristiques soient compatibles avec l'utilisation du robot sous-marin suspendu à un hélicoptère.Similarly, the description of the equipment available to the robot is not limiting, and the robot can be equipped with any device, which performs the desired functions, provided that its features are compatible with the use of the underwater robot suspended at a helicopter.
Par ailleurs, le robot peut n'être conçu que pour l'identification des objets susceptibles d'être des mines. Dans ce cas, il ne comporte pas de moyens de largage d'une charge de destruction d'une mine. Si une mine est identifiée et doit être détruite, elle l'est en utilisant un autre robot capable de larguer une charge de destruction de la mine.In addition, the robot may only be designed for the identification of objects that may be mines. In this case, it does not include means for releasing a destruction charge of a mine. If a mine is identified and must be destroyed, it is using another robot capable of dropping a mine-destroying charge.
Enfin, l'invention a été décrite avec l'utilisation d'un hélicoptère. Mais tout aéronef capable de transporter le robot au-dessus de la mer et de se maintenir en vol stationnaire peut être utilisé. L'aéronef peut aussi bien être piloté par un pilote embarqué qu'être télécommandé. En particulier, il peut s'agir d'un drone.Finally, the invention has been described with the use of a helicopter. But any aircraft capable of carrying the robot over the sea and hovering can be used. The aircraft can be piloted by an onboard pilot as well as be remotely controlled. In particular, it may be a drone.
Le robot peut être utilisé et manœuvré par un opérateur qui peut éventuellement être le pilote de l'aéronef ou être un opérateur spécialisé.The robot can be used and maneuvered by an operator who can possibly be the pilot of the aircraft or be a specialized operator.
Le pilote de l'aéronef et l'opérateur peuvent aussi bien être à proximité l'un de l'autre qu'être éloignés. En particulier, les automatismes et les moyens de commande et d'interfaçage avec un opérateur peuvent aussi bien être disposés dans l'aéronef que dans un navire de soutien ou un poste de commande à terre en liaison radio avec l'aéronef. Dans ce dernier cas, si l'aéronef est un hélicoptère, le pilote et l'opérateur sont éloignés l'un de l'autre. Enfin, l'opérateur peut, éventuellement, être remplacé par des automatismes. The pilot of the aircraft and the operator may as well be close to each other as distant. In particular, the automation and the means of control and interfacing with an operator may as well be arranged in the aircraft as in a support vessel or an on-shore control station in radio link with the aircraft. In the latter case, if the aircraft is a helicopter, the pilot and the operator are distant from each other. Finally, the operator can possibly be replaced by automatisms.

Claims

REVENDICATIONS
1. Procédé pour identifier et éventuellement neutraliser un objet sous- marin (1 , l') susceptible d'être une mine sous-marine dont la position géographique est connue, selon lequel on utilise un robot d'intervention sous-marine (4, 4') suspendu sous un aéronef capable de vol stationnaire tel qu'un hélicoptère (7) ou un drone, à l'aide duquel on vient disposer le robot (4, 4') au droit de l'objet (1 , l') à identifier et, éventuellement, à neutraliser, on identifie l'objet et, éventuellement, on le neutralise, le robot d'intervention sous-marine (4, 4') ayant une densité sensiblement supérieur à 1 et un poids apparent lorsqu'il est immergé suffisant pour que le dispositif se comporte comme un pendule raide.1. A method for identifying and possibly neutralizing an underwater object (1, I ') likely to be an underwater mine whose geographical position is known, according to which a submarine intervention robot is used (4, 4 ') suspended under an aircraft capable of hovering such as a helicopter (7) or a drone, with which one comes to arrange the robot (4, 4') to the right of the object (1, the ) to identify and possibly to neutralize, the object is identified and, possibly, neutralized, the underwater intervention robot (4, 4 ') having a density substantially greater than 1 and an apparent weight when it is immersed enough for the device to behave like a stiff pendulum.
2. Procédé pour identifier et éventuellement neutraliser un objet sous- marin susceptible d'être une mine, dont la position géographique est connue, selon la revendication 1 , caractérisé en ce que :2. A method for identifying and possibly neutralizing an underwater object likely to be a mine, whose geographical position is known, according to claim 1, characterized in that:
- en utilisant des moyens de positionnement géographique précis (15), on dispose à la verticale de la position géographique connue de l'objet sous- marin (1 , l'), un robot d'intervention sous-marine (4, 4') suspendu à un câble de support (5) monté sur un treuil (6) porté par un aéronef capable de vol stationnaire (7), le robot d'intervention sous-marine comprenant au moins des moyens (10, 10') de visualisation et/ou de détection et éventuellement des moyens (12, 12') d'intervention sur une mine sous-marine, reliés à des moyens de commande (9), le robot d'intervention sous-marine (4, 4') ayant un poids dans l'eau suffisant pour former un pendule raide lorsqu'il est immergé ;by using precise geographical positioning means (15), the underwater object robot (4, 4 ') is placed vertically at the known geographical position of the underwater object (1, 1'); ) suspended on a support cable (5) mounted on a winch (6) carried by an aircraft capable of hovering (7), the underwater intervention robot comprising at least viewing means (10, 10 ') and / or detection and possibly means (12, 12 ') of intervention on a submarine mine, connected to control means (9), the submarine intervention robot (4, 4') having a weight in the water sufficient to form a stiff pendulum when immersed;
- à l'aide du treuil (6), on descend le robot d'intervention sous-marine afin de le disposer à proximité de l'objet sous-marin;using the winch (6), the underwater intervention robot is lowered in order to dispose it near the submarine object;
- à l'aide des moyens (10, 10') de visualisation et/ou de détection, on repère l'objet sous-marin et, en déplaçant l'aéronef capable de vol stationnaire (7) et en actionnant le treuil (6), on dispose le robot d'intervention dans une position par rapport à l'objet sous-marin permettant une identification et éventuellement une intervention des moyens d'intervention du robot sous-marin sur l'objet sous-marin ;using the visualization and / or detection means (10, 10 '), the underwater object is identified and, by moving the hovering aircraft (7) and operating the winch (6 ), we have the robot intervention in a position with respect to the submarine object allowing identification and possibly intervention of the submarine robot's intervention means on the underwater object;
- à l'aide des moyens de visualisation (10, 10'), on identifie l'objet sous-marin,using the visualization means (10, 10 '), the underwater object is identified,
- éventuellement, on déclenche l'intervention des moyens d'intervention (12 ,12') du robot d'intervention sous-marine sur l'objet sous- marin et,optionally, the intervention means (12, 12 ') of the submarine intervention robot are triggered on the underwater object and,
- on éloigne le robot d'intervention de l'objet sous-marin.- The intervention robot is moved away from the underwater object.
3. Procédé selon la revendication 2, caractérisé en ce que les moyens (12, 12') d'intervention du robot d'intervention sous-marine comprennent au moins un moyen (121 ', 121 , 122) de neutralisation d'une mine sous-marine et en ce que le déclenchement de l'intervention des moyens d'intervention du robot d'intervention sous-marine consiste à déposer sur l'objet sous-marin (1 , 1') un moyen de neutralisation d'une mine sous-marine et à activer un dispositif (150, 151 , 150') de commande du moyen de neutralisation.3. Method according to claim 2, characterized in that the means (12, 12 ') for intervention of the submarine intervention robot comprise at least one means (121', 121, 122) for neutralizing a mine underwater and in that the triggering of the intervention of the response means of the submarine intervention robot is to deposit on the submarine object (1, 1 ') a means for neutralizing a mine underwater and activate a device (150, 151, 150 ') for controlling the neutralization means.
4. Procédé selon la revendication 3, caractérisé en ce que le moyen de neutralisation d'une mine est une charge destructrice par exemple du type omnidirectionnelle (121 , 122) ou du type à énergie dirigée (121 '), comportant des moyens (130') de fixation sur la mine sous-marine.4. Method according to claim 3, characterized in that the means for neutralizing a mine is a destructive load, for example of the omnidirectional type (121, 122) or the directed energy type (121 '), comprising means (130). ') attachment to the underwater mine.
5. Procédé selon l'une quelconque des revendications 2 à 4, caractérisé en ce que les moyens de positionnement géographique précis5. Method according to any one of claims 2 to 4, characterized in that the precise geographical positioning means
(15) comprennent des moyens de positionnement global différentiel.(15) comprise differential global positioning means.
6. Dispositif pour la mise en oeuvre du procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce qu'il comprend un robot d'intervention sous-marine (4, 4') pendulaire, télécommandé, relié par un câble (5) de suspension à un treuil (6) pouvant être porté par un véhicule de transport (7), et des moyens de commande (9) reliés au robot (4, 4') et au treuil (6) par des moyens (5) de transfert de données et de signaux de commande, le robot d'intervention comprenant au moins un moyen (10, 10') de visualisation et éventuellement au moins un moyen de détection d'un objet sous-marin, au moins un moyen de repérage (42') du cap du robot, le robot d'intervention sous-marine (4, 4') ayant une densité sensiblement supérieur à 1 et un poids apparent lorsqu'il est immergé suffisant pour que le dispositif se comporte comme un pendule raide.6. Device for implementing the method according to any one of claims 1 to 5, characterized in that it comprises a sub-marine intervention robot (4, 4 ') pendulum, remotely controlled, connected by a cable (5) suspension to a winch (6) that can be carried by a vehicle transport (7), and control means (9) connected to the robot (4, 4 ') and to the winch (6) by means (5) for transferring data and control signals, the intervention robot comprising at least one means (10, 10 ') of visualization and possibly at least one means for detecting an underwater object, at least one means for locating (42') the heading of the robot, the intervention robot under -marine (4, 4 ') having a density substantially greater than 1 and an apparent weight when immersed sufficient for the device to behave as a stiff pendulum.
7. Dispositif selon la revendication 6, caractérisé en qu'il comprend, en outre, au moins un moyen d'intervention (12, 12') sur une mine sous-marine.7. Device according to claim 6, characterized in that it further comprises at least one intervention means (12, 12 ') on an underwater mine.
8. Dispositif selon la revendication 6 ou la revendication 7, caractérisé en ce que au moins un moyen de visualisation (10, 10') est constitué d'une caméra de télévision à axe vertical (101 , 101') et de moyens d'éclairage associés.8. Device according to claim 6 or claim 7, characterized in that at least one display means (10, 10 ') consists of a vertical axis television camera (101, 101') and means for associated lighting.
9. Dispositif selon l'une quelconque des revendications 6 à 8, caractérisé en ce qu'au moins un moyen (10, 10') de visualisation est au moins une caméra de télévision (102, 102') dont l'axe de vision est incliné par rapport à l'axe vertical, de façon à permettre une vue panoramique, associée à des moyens d'éclairage.9. Device according to any one of claims 6 to 8, characterized in that at least one means (10, 10 ') for viewing is at least one television camera (102, 102') whose axis of vision is inclined relative to the vertical axis, so as to allow a panoramic view, associated with lighting means.
10. Dispositif selon la revendication 8 ou la revendication 9, caractérisé en ce qu'au moins un moyen (12, 12') de détection est un sonar haute fréquence (103, 103').10. Device according to claim 8 or claim 9, characterized in that at least one means (12, 12 ') of detection is a high frequency sonar (103, 103').
11. Dispositif selon l'une quelconque des revendications 6 à 10, caractérisé en ce que le robot d'intervention sous-marine (4, 4') comporte au moins un moyen de stabilisation du positionnement en cap (11 , 11') et/ou en profondeur. 11. Device according to any one of claims 6 to 10, characterized in that the underwater intervention robot (4, 4 ') comprises at least one means for stabilizing the positioning in the cap (11, 11') and / or in depth.
12. Dispositif selon la revendications 11 , caractérisé en ce que le moyen de stabilisation du positionnement en cap (11 , 11') comprend deux bras (11 A, 11 A') munis de palettes (11 B1 11 B'), déployables à l'horizontal et fixés sur un arbre vertical d'un moteur électrique (11 C, 11C), ainsi que des moyens (44') de commande du moteur et de régulation.12. Device according to claim 11, characterized in that the means of stabilization of the positioning in course (11, 11 ') comprises two arms (11 A, 11 A') provided with pallets (11 B 1 11 B '), deployable horizontally and fixed on a vertical shaft of an electric motor (11 C, 11C), and means (44 ') for controlling the motor and regulating.
13. Dispositif selon l'une quelconque des revendications 6 à 12, caractérisé en ce qu'il est associé à un moyen de positionnement précis (15) comprenant un moyen de positionnement global différentiel installé sur un véhicule de transport du dispositif, ou au moins une bouée de localisation acoustique associée à une balise répondeuse disposée dans le robot d'intervention sous-marine et à des moyens de liaison avec des moyens de commande et d'interface avec un opérateur, ou un sonar d'un chasseur de mines et associé à des moyens de communication avec les moyens de pilotage du véhicule de transport du dispositif.13. Device according to any one of claims 6 to 12, characterized in that it is associated with a precise positioning means (15) comprising a differential global positioning means installed on a transport vehicle of the device, or at least an acoustic locator buoy associated with a responder beacon disposed in the submarine intervention robot and means for connecting with control means and interface with an operator, or a sonar of a mine hunter and associated communication means with the control means of the transport vehicle of the device.
14. Dispositif selon l'une quelconque des revendications 6 à 13, caractérisé en ce qu'il comporte un moyen (13) de détection de la déviation du câble de suspension (5) par rapport à la verticale, relié aux moyens de commande (9).14. Device according to any one of claims 6 to 13, characterized in that it comprises means (13) for detecting the deflection of the suspension cable (5) relative to the vertical, connected to the control means ( 9).
15. Dispositif selon l'une quelconque des revendications 6 à 14, caractérisé en ce que les moyens (5) de transfert de données et de signaux de commande comportent deux parties (5A, 5B) reliées par un moyen de connexion rapide (8).15. Device according to any one of claims 6 to 14, characterized in that the means (5) for transferring data and control signals comprise two parts (5A, 5B) connected by a quick connection means (8) .
16. Dispositif selon l'une quelconque des revendications 6 à 15, caractérisé en ce que les moyens de commande (9) comprennent des moyens électroniques et informatiques notamment d'asservissement et d'interface avec un opérateur comprenant des moyens adaptés pour l'aide au pilotage du véhicule de transport.16. Device according to any one of claims 6 to 15, characterized in that the control means (9) comprise electronic and computer means including servo and interface with an operator comprising means adapted for assisting the piloting of the transport vehicle.
17. Dispositif selon la revendication 16, caractérisé en ce que les moyens de commande comprennent au moins un asservissement du treuil pour le pilotage en altitude du robot d'intervention sous-marine.17. Device according to claim 16, characterized in that the control means comprise at least one servo of the winch for the altitude control of the submarine intervention robot.
18. Dispositif selon l'une quelconque des revendications 6 à 17, caractérisé en ce que au moins un moyen d'intervention (12, 12') sur une mine sous-marine (1 , l') comprend un moyen de largage d'au moins un moyen de neutralisation d'une mine sous-marine constituée d'une charge destructrice de mine sous-marine qui est par exemple une charge explosive omnidirectionnelle (121 , 122) pouvant être de forme annulaire, ou qui est une charge creuse (121') munie de moyens d'accrochage sur une mine sous- marine, lesdits moyens d'accrochage sur une mine sous-marine étant, par exemple, un bras à déclenchement automatique ou commandé au contact de la mine, équipé ou non d'au moins un moyen d'accrochage mécanique ou magnétique, ou une ventouse hydrostatique, la charge destructrice de mine sous-marine comprenant un moyen (150, 151 , 150') de commande de la mise à feu avec retard tel q'une minuterie, ou un moyen de déclenchement acoustique dans une fenêtre de temps prédéterminée et éventuellement une sécurité telle qu'une sécurité hydraustatique par pressostat.18. Device according to any one of claims 6 to 17, characterized in that at least one means of intervention (12, 12 ') on an underwater mine (1, I') comprises a means of release of at least one means for neutralizing an underwater mine consisting of a submarine mine destructive charge which is for example an omnidirectional explosive charge (121, 122) which may be ring-shaped, or which is a hollow charge ( 121 ') provided with hooking means on an underwater mine, said hooking means on an underwater mine being, for example, an automatically triggered or controlled arm in contact with the mine, equipped or not with at least one mechanical or magnetic hooking means, or a hydrostatic suction cup, the underwater mine destructive load comprising a delay firing control means (150, 151, 150 ') such as a timer, or acoustic triggering means in a predetermined time window and possibly a safety such as a hydraustatic safety by pressure switch.
19. Dispositif selon l'une quelconque des revendications 6 à 18, caractérisé en ce qu'il est associé à un véhicule de transport qui est un aéronef capable de vol stationnaire, tel qu'un hélicoptère (7) ou un drone. 19. Device according to any one of claims 6 to 18, characterized in that it is associated with a transport vehicle which is an aircraft capable of hovering, such as a helicopter (7) or a drone.
EP06709215A 2005-02-21 2006-02-01 Method and device for the identification and neutralisation of a submarine mine Active EP1851107B1 (en)

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FR0501735A FR2882339B1 (en) 2005-02-21 2005-02-21 METHOD AND DEVICE FOR IDENTIFYING AND NEUTRALIZING AN UNDERWATER MINE
PCT/FR2006/000222 WO2006090040A1 (en) 2005-02-21 2006-02-01 Method and device for the identification and neutralisation of a submarine mine

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