Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
  • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
  • B63B21/56—Towing or pushing equipment
  • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
  • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
  • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations

Definitions

• the present disclosure relates to a system comprising an underwater vehicle and a surface-based base.
• Such a system can be used to perform any type of underwater work and, more particularly, for underwater exploration.
• the underwater vehicle is generally provided with various on-board equipment (sensors, cameras, articulated arms, sampling means, etc.).
• the underwater vehicle is a remotely operated submarine vehicle or ROV (for "Remotely Operated Vehicle”).
• ROV Remotely Operated Vehicle
• This unmanned vehicle is usually remotely controlled from a larger vehicle such as a boat, which is the base, on which the ROV pilot is located.
• a negative float profile body is interposed between the ROV and a surface vessel.
• the shaped body is maintained substantially at the same depth of immersion as the ROV.
• the profiled body is wired to the ROV via a first cable.
• the profiled body is bonded to the boat by means of a second cable, a diameter greater than that of the first cable. Both the first and second cables allow the transmission of electrical power and control signals from the boat to the ROV.
• the propulsion means of the ROV are supplied with electrical energy via these cables, the ROV having no onboard energy reserve.
• the length of the first cable is dependent, on the one hand, on the need for the vehicle to travel around the position of the profiled body and, on the other hand, on the need to hold the fixed point of the vehicle. vehicle when the profiled body moves in the case where holding the boat at the fixed point is not sufficient.
• this other system uses a Hybrid Remotely Operated Vehicle (HROV).
• HROV Hybrid Remotely Operated Vehicle
• This vehicle is said to be hybrid because it is equipped with on-board propulsion means powered by an onboard battery.
• a depressor ballast and a float pack are interposed, in that order, between the boat and the HROV.
• the depressant ballast is tied to the boat directly or via a cable, and is tied to the HROV by an optical fiber that passes through the float pack.
• the HROV is therefore tied to the diver and the float only by the optical fiber.
• This optical fiber being of diameter (250 microns) and of very low linear density, its length can be very important (between 20 and 60 km) without generating a drag or a too important weight and, thus, without that hindering the maneuverability HROV or boat.
• the optical fiber is cut with a shear present on the float pack. Moreover, a gripping member can be provided on the step-down to recover the cut optical fiber.
• a gripping member can be provided on the step-down to recover the cut optical fiber.
• a first mode of operation consists, if the autonomy of the HROV allows, to remotely control the HROV from the first to the second zone but, then, the autonomy of the HROV may be insufficient to work on the second zone.
• a second mode of operation consists of working on the first zone, cutting the optical fiber, raising the HROV to the surface, recovering the HROV on the boat, moving the boat from the first to the second working area, using a new fiber optic, down the HROV to the seabed of the second zone. This second mode of operation is therefore laborious and takes a lot of time.
• This presentation concerns a system comprising an underwater vehicle and a surface-based base, enabling work to be carried out at all depths, to the most important depths (eg 11000m), this system being devoid, at least in part, of aforementioned drawbacks.
• it is a system comprising an underwater vehicle and a surface-based base, in which the underwater vehicle comprises an onboard energy reserve and is remotely controlled from the base by the intermediate of at least one first optical fiber, this system comprising:
• a positive float element referred to as a float
• a float connected by wire to the underwater vehicle, solely via the first optical fiber (s)
• diver a negative buoyancy element, called diver, linked to the base.
• the float and the plunger are wired together via a first flexible link, and the system further comprises:
• a first device for winding and unwinding the first optical fiber provided on the float and / or the underwater vehicle
• the system can, on the one hand, be deployed by unfolding the first optical fiber and the first flexible link and, on the other hand, be retracted by winding the first optical fiber and the first flexible link.
• the term "surface-based base” means any type of installation or device, whether terrestrial or marine, situated at or above the surface of the surface of water, from which it It is possible to remotely control the underwater vehicle.
• the base is a boat. It could however be a platform, an off-shore platform, etc.
• the proposed system offers the possibility of working with, as a basis, a small ship with no means of dynamic positioning.
• said underwater vehicle is, more particularly, a submarine engine without crew and self-propelled like, for example, a HROV. It could however be a drone, a torpedo, etc.
• the energy reserve of this machine is usually a reserve of electrical energy such as a battery.
• the diver When the system is in deployed configuration, the diver hangs in the water under the base, the float is remote from the diver and the underwater vehicle is distant from the float.
• the plunger and the float allow a decoupling that limits the forces exerted on the underwater vehicle to those exerted by the first optical fiber.
• This first optical fiber being of limited linear density and diameter (compared to known cables, metal or Kevlar), the forces exerted by the fiber on the underwater vehicle are also limited, even for long fiber lengths. This ensures good maneuverability of the underwater vehicle.
• the first optical fiber may be reinforced, in particular by an outer envelope, so as to have sufficient mechanical strength to withstand the traction forces between the float and the machine, in particular during the winding phase of the fiber .
• the geometry of the system in deployed configuration can be adapted by increasing / decreasing the lengths of the first flexible link and the first optical fiber, which is possible due to the presence of the first and second winding devices and unwinding .
• the proposed system is, moreover, well adapted to work on two relatively distant areas of each other. Indeed, in this case, after having worked on the first zone, the first optical fiber and the first flexible link are wound, respectively, by means of the first and second winding / unwinding devices, so that the sub-machine marine, float and diver are united in a unit. This unitary assembly can then be easily pulled by the boat that is moved from the first to the second zone. The first optical fiber and the first flexible link are then unwound to find the deployed configuration and to work on the second site.
• the energy used for the displacement of the underwater vehicle between the two work areas is not taken from the energy reserve of the gear and the autonomy of the machine is preserved.
• it is not necessary to raise the underwater vehicle surface and install a new optical fiber which simplifies operations and saves time.
• the underwater vehicle comprises an onboard remote-controlled, propulsion system via the first optical fiber (ie the control signals pass through the first optical fiber), the on-board energy reserve being adapted to power this propulsion system.
• the propulsion system is powered solely by said onboard energy reserve and therefore receives no energy from a source external to the underwater vehicle.
• the connection between the float and the underwater vehicle is not used to supply energy to the propulsion system.
• the underwater vehicle is a HROV.
• the first winding and unwinding device of the first optical fiber is provided on the float and / or on the underwater vehicle.
• the first winding / unwinding device is provided on the underwater vehicle, the onboard energy reserve being adapted to feed this first winding device / unwinding.
• the onboard energy reserve of the underwater vehicle is provided on the underwater vehicle.
• the first winding / unwinding device is provided on the float.
• an on-board energy reserve is provided on the float, or energy is transferred from the base to the float, via the plunger and the first flexible link.
• the first winding and unwinding device is a constant voltage winch for maintaining the first optical fiber under a certain tension when unwound. This makes it possible to keep this optical fiber relatively stretched between the float and the underwater vehicle and, thus, to prevent it from dragging on the ocean floor where it could be damaged, or that too much length of fiber is generating loops in open water, likely to hang on.
• the second winding and unwinding device of the first flexible link is provided on the float and / or the plunger.
• the second winding device is provided on the plunger.
• the system includes a first attachment device adapted to detachably attach the float and the underwater vehicle together.
• a first attachment device adapted to detachably attach the float and the underwater vehicle together.
• This subassembly can be easily moved in the water and, in particular, can be moved closer and / or away from the diver.
• the subset moves using the propulsion system of the underwater vehicle and is remotely controlled from the base.
• the system includes a second fastener adapted to releasably secure the plunger to the underwater vehicle and / or the float.
• a second fastener adapted to releasably secure the plunger to the underwater vehicle and / or the float.
• the plunger includes a cage defining a housing within which at least a portion of the underwater craft can penetrate. This makes it possible to create a compact assembly uniting the plunger, the float and the underwater vehicle.
• the machine when the machine is housed at least partly in the cage, it is protected by it against external shocks. In particular, it is necessary to protect the fragile parts of the machine (e.g. possible fins, possible articulated arms, etc.).
• the underwater vehicle is housed entirely in the cage.
• the float includes a locating system for determining, at a given moment, the position of the float underwater, and a remotely controlled propulsion system from the base.
• a locating system for determining, at a given moment, the position of the float underwater, and a remotely controlled propulsion system from the base.
• the first optical fiber must be strong enough to withstand the tensile forces between the plunger and the machine, especially during the winding of the fiber.
• the breaking strength of the fiber is related to the diameter of the fiber and a high tensile strength is accompanied by a large diameter.
• the diameter of the fiber must remain small in order to limit the drawbacks associated with the weight, drag and bulk of the fiber when it is wound up. A breaking strength is therefore a disadvantage.
• the first optical fiber has a breaking strength of between 500 and 1500 N, which constitutes a good compromise between the mechanical strength and the weight / volume of the optical fiber.
• the first flexible link has a breaking strength of between 3,000 and 10,000 N. This is, again, a good compromise between the mechanical strength and the weight / volume. flexible link.
• At least one second optical fiber is connected to the first and is associated with the first soft link.
• the second optical fiber can be integrated inside the first flexible link so as to be protected.
• At least one first electrical cable is associated with the first flexible link, this first electrical cable being adapted to supply power to the potential equipment of the float, such as, for example, the propulsion means thereof.
• the first electrical cable can be integrated inside the first flexible link so as to be protected.
• the plunger is wire bonded to the base by a second flexible link.
• This second flexible link is a solution to keep the diver away from the base while controlling the diver's altitude relative to the ocean floor.
• a device for winding and unwinding the second flexible link is provided on the base.
• This second flexible link must be strong enough to withstand the pulling forces between the plunger and the base.
• the breaking strength of the second flexible link therefore depends in particular on the weight / volume of the plunger.
• At least one third optical fiber is associated with the second flexible link, this third optical fiber being connected to the second optical fiber.
• the third optical fiber can be integrated inside the second flexible link so as to be protected.
• the first, second and third optical fibers provide an optical connection between the base and the underwater vehicle, this optical connection allowing the transfer of the control signals from the base to the machine and being able to allow, in the other direction, the transfer of data from the machine to the base.
• at least a second electrical cable is associated with the second flexible link, the second electrical cable being adapted to supply power to the potential equipment of the plunger and / or the float.
• the second electric cable can be integrated inside the second flexible link so as to be protected.
• the proposed system comprises at least a first, at least a second and at least a third optical fiber and that, therefore, several first, several second and several third optical fibers can be provided. This also applies to the first and second electric cables.
• FIG. 1 represents an exemplary system according to the present disclosure, comprising an underwater vehicle, a surface-based base, a plunger and a float.
• FIG 2 is a detail view of FIG 1 showing the float, the first optical fiber and the winding device / unwinding of this first optical fiber.
• FIG 3 is a detail view of another example of a float.
• FIGS. 4 to 7 illustrate the successive steps of deploying the system of FIG. 1 in the water.
• FIG 1 shows a system comprising an underwater vehicle 10 and a base 40 located on the surface.
• the underwater vehicle 10 is remotely controlled from the base 40 via one or more (in the example only one) first optical fiber 15.
• This system includes;
• a positive buoyancy element said float 20, linked by wire (i.e. by a wire link) to the underwater vehicle 10;
• plunger 30 a negative buoyancy element, called plunger 30, connected by wire to the base 40 and the float;
• first optical fiber (s) 15 constituting the only wired connection between the underwater vehicle 10 and the float 20;
• first flexible link (s) 25 forming a wire connection between the plunger 30 and the float 20;
• one (or more) second flexible link (s) 35 forming a wire connection between the plunger 30 and the base 40.
• This system also includes:
• the base 40 is a boat.
• the underwater vehicle 10 is unmanned and includes an electric battery 14 on board constituting a reserve of energy within the meaning of this presentation.
• the underwater vehicle 10 is self-propelled, its embedded propulsion system 16 being powered by the battery 14 on board.
• This propulsion system 16 is remotely controlled from the base 40, via the first optical fiber 15, the link 25 and the link 35.
• the underwater vehicle 10 is a HROV.
• the battery 14 also supplies the first winding / unwinding device 12 with electrical energy.
• the first winding / unwinding device 12 is a winch with constant tension and it makes it possible to keep the first optical fiber 15 under a certain tension when it is unwound.
• the main technical characteristics of such a winch may be the following: winding of 200 to 500 m of optical fiber; holding force from 10 to 50 N.
• the plunger 30 comprises a cage 33 (eg a metal cage) defining a housing 31 open laterally via an opening 31a.
• the shape and dimensions of the housing 31 are such that the underwater vehicle 10 and the plunger 20 can enter it (see FIG 4).
• the second device 32 for winding / unfolding the first flexible link 25 is, in the example, a winch.
• This winch is mounted on the cage 33.
• the main technical characteristics of such a winch can be, the following: winding 50 to 100 m of link; winding force of the order of 5000 N.
• the winch is disposed above the housing and pulleys 34 fixed on the cage 33 can deflect the path of the first flexible link 25.
• One of the pulleys 34 is located on the opposite side to the lateral opening 31a, so that link 25 passes through the housing 31.
• the system comprises a first attachment device adapted to detachably attach together the float 20 and the underwater vehicle 10.
• this first fixing device comprises a hook (not shown) integral with the underwater vehicle 10, which can be switched on and off automatically or piloted. This hook blocks the float as soon as the float is in contact with the bottom of its housing in the underwater vehicle.
• the system also comprises a second fixing device adapted to detachably attach the plunger 30 to the underwater vehicle 10 and / or to the float 20.
• this second fixing device comprises a hook integral with the structure of the plunger 30, which can be switched on or off automatically or controlled. This hook blocks the float 20 and the underwater vehicle as soon as they come into contact with the bottom of the housing 31 of the cage 33.
• FIG. 3 A particular example of a float 120 is shown in FIG. 3.
• the first and second optical fibers 15, 25 are connected to the body of the float 120.
• this float 120 comprises a propulsion system 127 and a locating system 126 allowing, at a precise moment, to determine the position of the float 120 under water.
• the propulsion system 127 can be remotely controlled from the base 40 via the second and third optical fibers 25, 35.
• the position of the plunger 30 is known by means of another locating system 36 fixed on the cage 33 (see FIG 1).
• the float 20 comprises a fastening element 128 for its fixing on the plunger 30 and a fixing element 129 for its attachment to the machine 10.
• These two fastening elements 128, 129 have at their free end a flange configured to cooperate, respectively, with the hooks of the plunger 30 and of the cage 33.
• the first optical fiber 15 has a tensile strength of between 500 and 1500 N, a diameter typically between 5 and 8 mm and a linear density typically between 0.4 and 0.8 N / m in the water.
• This optical fiber 15 is, for example, reinforced by an aramid fiber envelope.
• This optical fiber 15 is sufficiently strong to withstand the tensile forces between the float 20 and the machine 10, particularly during the winding phase of the fiber 15, while generating a limited weight, drag and space. Note that the size of the housing provided in the machine 10 for housing the fiber 15, when it is wound around the winch 12, depends on the length and the diameter of the fiber 15.
• the first flexible link 25 has a breaking strength of between 3000 and 10000 N, a diameter typically between 10 and 20 mm and a linear density in the low water making it practically neutral in water.
• This first flexible link 25 is, for example, a cable having a multilayer coaxial structure with an outer Kevlar protection layer.
• This first flexible link 25 integrates one (or more) second (s) optical fiber (s), this second optical fiber being close to the core of the link and thus protected by the outer protective layer.
• the first flexible link 25 may also include one (or more) first (s) electric cable (s). This cable makes it possible to supply energy to the equipment of the float, that is to say the propulsion system 127 and the locating system 126 in the example of the float 120.
• the second flexible link 35 integrates one (or more) third (s) optical fiber (s) and one (or more) second (s) electric cable (s).
• the third optical fiber is connected to the second optical fiber which, itself, is connected to the first optical fiber 15.
• the first, second and third optical fibers provide an optical connection between the base 40 and the underwater vehicle. 10, this optical connection allows the transfer of the control signals from the base 40 to the machine 10.
• the second electric cable makes it possible to supply power to the equipment of the plunger, that is to say, in the example, the winch 32 and the locating system 36.
• FIGS. 1, 4-7 the system of FIG. 1 can be deployed in the following manner.
• the base 40 is moved substantially over the work area.
• the machine 10 the float 20 and the plunger 30 are aboard the base 40 and are united in a unitary assembly.
• the float is fixed and locked on the machine 10, and the machine 10 is locked in the waiting position inside the cage 33.
• the driver of the machine 10 is aboard the base 40.
• the cage 33 is then launched and lowered to the bottom by unwinding the second flexible link 35.
• the cage 33 is stabilized, for example, about 50 meters from the bottom.
• FIG 4 represents the cage in this last position.
• the altitude of the cage 33 is controlled using the location system 36.
• the machine 10 is then unlocked vis-à-vis the cage on command of the pilot.
• the pilot remotely controls the craft 10 (and the float 20 still fixed and locked on the craft 10) out of the cage 33, the craft 10 moving by means of its propulsion system 16.
• the winch 32 of the cage 33 is actuated, on command of the pilot, to unwind the first flexible link 25.
• the first flexible link 25 is unwound, for example, over 50 meters.
• the movements of the base 40 are retransmitted to the cage 33 but almost not to the machine 10, due to the decoupling allowed by the first flexible link 25.
• the float 20 is then unlocked vis-à-vis the machine 10, on the pilot's command.
• the course (ie unwinding) of the first optical fiber 15 is then done automatically through the winch 12, depending on the movements of the machine 10 (the machine 10 applying a slight traction on the fiber 15 in s' away from the float 20).
• the machine 10 is remotely controlled by the pilot to reach the work area. At this stage, the machine 10 is completely decoupled from the movements of the base 40 and the cage 33.
• the position of the float can be checked and modified by the pilot to control the configuration adopted by the first flexible link 25 and the fiber 15.
• the system can be retracted as follows.
• the machine 10 is reassembled at the pilot's command at the same altitude as the cage 33, so as to clear the bottom.
• the machine is then moved towards the cage 33, preferably in reverse, so as to facilitate the automatic winding (ie rewinding) of the fiber 15 around the winch 12.
• the float 20 is automatically locked on the machine 10.
• the machine 10 and the float then form a unit subset.
• the pilot then controls the winding of the winch 32 of the cage 33, which has the effect of bringing the machine 10 (and the float 20) to the cage.
• the pilot remotely navigates the machine 10 to the approach of the cage 33 to ensure proper alignment of the machine with the opening 31a of the housing 31 of the cage 33 and thus limit the risk of shocks.
• the machine 10 is then pulled inside the housing 31 by the winch 32, via the first flexible link 25.
• the plunger 30, the float 20 and the craft 10 then form a unitary unit. This assembly can either remain in the water and be pulled by the base 40 to another work area, or be raised to the surface by winding the second flexible link 35 and be recovered on board the base 40.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Ocean & Marine Engineering (AREA)
• Aviation & Aerospace Engineering (AREA)
• Laying Of Electric Cables Or Lines Outside (AREA)
• Current-Collector Devices For Electrically Propelled Vehicles (AREA)

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• 2010
  • 2010-10-01 FR FR1057984A patent/FR2965543B1/fr active Active
• 2011
  • 2011-09-29 BR BR112013007806-5A patent/BR112013007806B1/pt active IP Right Grant
  • 2011-09-29 EP EP11779759.7A patent/EP2621796B1/de active Active
  • 2011-09-29 WO PCT/FR2011/052274 patent/WO2012042177A1/fr active Application Filing

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