EP3601036B1 - Submerged system for storing an underwater vehicle such as a drone and keeping it in operational condition - Google Patents

Submerged system for storing an underwater vehicle such as a drone and keeping it in operational condition Download PDF

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Publication number
EP3601036B1
EP3601036B1 EP18712217.1A EP18712217A EP3601036B1 EP 3601036 B1 EP3601036 B1 EP 3601036B1 EP 18712217 A EP18712217 A EP 18712217A EP 3601036 B1 EP3601036 B1 EP 3601036B1
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EP
European Patent Office
Prior art keywords
underwater vehicle
bell
shaped
forming
vehicle
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EP18712217.1A
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German (de)
French (fr)
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EP3601036A1 (en
Inventor
Arnaud TROUVE
Bernard LABROUSSE
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Naval Group SA
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Naval Group SA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • the present invention relates to a submerged system for storing and maintaining in operational condition an underwater vehicle such as a drone, for example cylindrical, that is to say having for example the shape of a torpedo.
  • Underwater vehicles such as drones are increasingly used, particularly to ensure the control, surveillance and inspection of submerged installations.
  • such underwater vehicles are used in sectors such as the offshore oil and gas industry, in the underwater mining industry, in coastal and maritime surveillance operations and even by scientific oceanographic observatories.
  • operations to maintain this type of machine in operational condition require the recovery of this machine on the surface, for example on board a platform such as a support ship, where the operations of reconditioning of the machine is carried out.
  • This also makes it possible to recover the information stored by the payload of the machine, for example the data collected by its sensors.
  • the aim of the invention is therefore to resolve these problems.
  • the subject of the invention is a submerged storage and maintenance system in operational condition according to claim 1.
  • the system is designated by the general reference 1, while the underwater vehicle is designated by the general reference 2.
  • such a system comprises means forming a base base, designated by the general reference 3, on which are provided bell-shaped means for receiving the underwater vehicle 2, in position storage, these bell-shaped means being designated by the general reference 4.
  • This system also includes means for filling/emptying these bell-shaped means 4 using a fluid for preserving the underwater vehicle 2.
  • Such a system 1 is intended to be submerged and for example to rest on the bottom such as the seabed.
  • the bell-shaped means 4 thereof comprise for example at one end, means forming a door allowing the underwater vehicle 2 to enter and exit the bell-shaped means 4.
  • these door forming means are designated by the general reference 5 on these figures 1 to 3 , and are presented for example in the form of an articulated door deployable between a retracted position, illustrated on the figure 2 , and an active deployed position, shown on the Figure 3 .
  • the underwater vehicle 2 In the retracted position, that is to say with the door open, the underwater vehicle 2 can then enter the bell-shaped means 4 to be stored therein.
  • the door can then be closed.
  • the system includes means for receiving the underwater vehicle 2 in the storage position.
  • reception means in fact comprise elongated means forming a cradle for receiving the underwater vehicle 2 in the storage position.
  • these means forming a cradle 6 comprise an element of elongated cylindrical shape, designated by the general reference 7, comprising at one of its ends, that is to say at the end facing the means forming a door 5 of the bell 4, a cone for guiding the machine into the storage position therein.
  • the means forming a reception cradle comprise a front stop cap for the front end of the machine submarine 2.
  • This cap is for example designated by the general reference 9 in these figures and is connected to the rest of the system for example by means of damping means designated by the general reference 10.
  • damping means include for example a block of elastically deformable material.
  • this cylindrical element constituting the means forming a cradle for receiving the underwater vehicle, comprises means in the form of a clamp for holding the vehicle in position.
  • clamp-shaped means are designated by the general reference 11 in these figures and are illustrated in detail in the figure 5 .
  • these clamp-shaped means comprise two clamp branches, respectively 12 and 13, extending on either side of the cylindrical-shaped element 7 of the means for receiving the underwater vehicle and are actuated for example by means such as a jack, designated by the general reference 14, to grip the underwater vehicle and hold it in position.
  • electrical coupling means can be provided between the means forming a reception cradle and the underwater vehicle 2.
  • These coupling means are for example inductive coupling means.
  • the means forming a reception cradle 6 and in particular the cylindrical-shaped element 7 thereof can comprise, for example, near its front end, inductive electrical coupling means, designated by the general reference 15, which are adapted, when the underwater vehicle 2, is in the storage position in these means forming a cradle 6, to extend opposite complementary coupling means 16 of the underwater vehicle 2.
  • this makes it possible, for example, to transfer electrical energy to ensure the recharging of the electrical energy storage means of the underwater vehicle 2 and/or to ensure an exchange of information between the vehicle and the means in the form of a cradle 6, for example to recover information from the underwater vehicle or on the contrary ensure the updating of information in this underwater vehicle from the rest of the system.
  • this entire structure is intended to allow the reception of the underwater vehicle 2 in the storage position in a reception cradle of a submerged structure, to ensure the preservation of the latter and the increase of its operational lifespan.
  • a fluid for preserving the underwater vehicle 2 can be used, when the latter is in the storage position in the bell-shaped means 4.
  • This fluid consists of liquid which is intended to be injected into the bell-shaped means 4, to replace the sea water in order to ensure the preservation of the underwater vehicle 2.
  • this preservation fluid can for example be stored in containers or corresponding receiving means, integrated for example in the means forming a base base 3.
  • these reception means are constituted by reservoirs, for example flexible and compensated, placed in the base means 3 and one of which is designated by the general reference 17.
  • this preservation fluid can then be pumped or drained from the bell-shaped means 4 for receiving the underwater vehicle 2 in the storage position, in order to ensure its preservation.
  • the means for filling/emptying the bell-shaped means 4 are then associated with means for channeling and circulating the fluid between the bell-shaped means 4 and the tanks, for example 17, according to the needs for filling or emptying. draining.
  • pumping means designated by the general reference 18, comprising a pump associated with a motor, and connected by pipe means 19 to the tank 17, and by pipe means 20 to the means in the form of bell 4.
  • the motor associated with the pump is then controlled to pump the fluid from the reservoir into the bell-shaped means or vice versa.
  • the bell-shaped means 4 can include a buffer volume in their upper part, designated by the general reference 21 on this Figure 7 .
  • complementary coupling means 15 and 16 by electromagnetic induction, allowing in particular to transfer electrical energy to the underwater vehicle 2 in order to recharge its energy storage means.
  • reception means 6 the underwater vehicle 2 and the complementary inductive coupling means 15 and 16.
  • These coupling means include the inductive electrical coupling means 15 of the means forming a cradle 6 for receiving the underwater vehicle 2 and the complementary coupling means 16 of this underwater vehicle 2.
  • the coupling means 15 of the receiving means 6 of the underwater vehicle 2 comprise a transmitter coil, designated by the general reference 30 in these figures.
  • This transmitter coil 30 is integrated into a support of the reception means 6 of the underwater vehicle and is connected to the output of an electrical energy supply source of these reception means, which will be described in more detail by the following.
  • this transmitter coil 30 is integrated into a protective envelope, designated by the general reference 31.
  • This protective envelope 31 has a section of shape complementary to that of the corresponding underwater vehicle portion 2.
  • This protective envelope 31 is for example made of resin.
  • the complementary means 16 of the underwater vehicle 2 are formed on one of its sides.
  • complementary means 16 then comprise, facing the means for coupling the means in the form of a cradle 6 and in particular the transmitter coil 30, a corresponding receiver coil, designated by the general reference 32.
  • this receiver coil is made up of Litz wires.
  • This coil is also embedded in a protective resin casing, such as, for example, that designated by the general reference 33 on this figure 8 .
  • This protective envelope 33 is for example glued to the underwater vehicle 2.
  • this underwater vehicle can include, at the level of the complementary means 16 for coupling by electromagnetic induction, means forming a screen for protecting the interior thereof against radiated electromagnetic fields, these means forming a screen being designated by the general reference 34.
  • the transmitter coil 30 is connected to electrical energy supply means, designated by the general reference 37.
  • These power supply means 37 comprise in series an alternative power source, designated by the general reference 38, an alternating/direct current converter 39, and a direct/alternating current converter 40 for supplying this coil 30.
  • converters are associated with control and communication means, designated by the general reference 41, making it possible for example to control their operation and to collect information from the underwater vehicle 2.
  • the receiving coil 32 is also connected via an alternating/direct converter, designated by the general reference 42, to the electrical energy storage means, for example 43 , of the underwater vehicle 2.
  • the submerged system according to the invention makes it possible to store an underwater vehicle, between two missions, in a bath of preservation fluid, protecting it from any contact with seawater and therefore from the effects of corrosion.
  • the system according to the invention also makes it possible to provide a protective enclosure for the machine against natural or unnatural external attacks such as, for example, falling light objects.
  • Elementary operations for maintaining operational condition can also be implemented, such as for example the exchange of information or the recharging of the electrical energy storage means of the underwater vehicle 2.
  • This device can then be kept for a more or less long period safely in the bell until its next mission.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Electric Cable Installation (AREA)
  • Underground Structures, Protecting, Testing And Restoring Foundations (AREA)
  • Farming Of Fish And Shellfish (AREA)
  • Tents Or Canopies (AREA)

Description

La présente invention concerne un système immergé de stockage et de maintien en condition opérationnelle d'un engin sous-marin tel qu'un drone par exemple cylindrique c'est-à-dire présentant par exemple la forme d'une torpille.The present invention relates to a submerged system for storing and maintaining in operational condition an underwater vehicle such as a drone, for example cylindrical, that is to say having for example the shape of a torpedo.

Des engins sous-marins tels que des drones sont de plus en plus souvent utilisés en particulier pour assurer le contrôle, la surveillance et l'inspection d'installations immergées.Underwater vehicles such as drones are increasingly used, particularly to ensure the control, surveillance and inspection of submerged installations.

Ainsi par exemple, de tels engins sous-marins sont utilisés dans des secteurs tels que l'industrie offshore pétrolière et gazière, dans l'industrie minière sous-marine, dans des opérations de surveillance côtière et maritime voire par des observatoires océanographiques scientifiques.For example, such underwater vehicles are used in sectors such as the offshore oil and gas industry, in the underwater mining industry, in coastal and maritime surveillance operations and even by scientific oceanographic observatories.

A l'heure actuelle, les opérations de maintien en condition opérationnelle de ce type d'engins nécessitent la récupération de cet engin en surface, à bord par exemple d'une plate-forme telle qu'un navire de soutien, où les opérations de remise en condition de l'engin sont effectuées.At present, operations to maintain this type of machine in operational condition require the recovery of this machine on the surface, for example on board a platform such as a support ship, where the operations of reconditioning of the machine is carried out.

Ceci permet par exemple d'une part de nettoyer l'engin et ses différents capteurs, et d'autre part de recharger ses batteries d'alimentation en énergie électrique.This makes it possible, for example, on the one hand to clean the machine and its various sensors, and on the other hand to recharge its electrical energy supply batteries.

Ceci permet également de récupérer les informations stockées par la charge utile de l'engin comme par exemple les données collectées par des capteurs de celle-ci.This also makes it possible to recover the information stored by the payload of the machine, for example the data collected by its sensors.

Des systèmes immergés ont également été proposés comme dans les documents US 2016/0009344 , US 2015/0251739 et CN 106 314 732 A .Immersed systems have also been proposed as in the documents US 2016/0009344 , US 2015/0251739 And CN 106 314 732 A .

On conçoit cependant que ces opérations de récupération sont relativement contraignantes, consommatrices de temps et coûteuses.However, we understand that these recovery operations are relatively restrictive, time-consuming and expensive.

Le but de l'invention est donc de résoudre ces problèmes.The aim of the invention is therefore to resolve these problems.

A cet effet, l'invention a pour objet un système immergé de stockage et de maintien en condition opérationnelle selon la revendication 1.To this end, the subject of the invention is a submerged storage and maintenance system in operational condition according to claim 1.

Suivant d'autres caractéristiques du système selon l'invention, le système est selon l'une quelconque des revendications 2 à 7.According to other characteristics of the system according to the invention, the system is according to any one of claims 2 to 7.

L'invention sera mieux comprise à l'aide de la description qui va suivre, donnée uniquement à titre d'exemple et faite en se référant aux dessins annexés, sur lesquels :

  • la figure 1 représente une vue de côté en perspective avec des parties en transparence, d'un système immergé de stockage et de maintien en condition opérationnelle selon l'invention,
  • les figures 2 et 3 représentent des vues partielles de ce système illustrant le fonctionnement de moyens formant porte d'entrée et de sortie de ce système,
  • la figure 4 représente une vue de détail illustrant un exemple de réalisation de moyens formant berceau d'accueil d'un engin sous-marin, entrant dans la constitution d'un système selon l'invention,
  • la figure 5 représente une vue de détail de moyens en forme de pince de maintien en position de l'engin dans une telle structure,
  • la figure 6 représente une vue en perspective d'un exemple de réalisation d'un engin sous-marin,
  • la figure 7 illustre le fonctionnement de moyens de remplissage/vidange entrant dans la constitution d'un système immergé selon l'invention,
  • la figure 8 illustre la structure et le fonctionnement des moyens d'accouplement inductif entrant dans la constitution d'un système selon l'invention, et
  • la figure 9 illustre la structure et le fonctionnement de moyens d'alimentation électrique entrant dans la constitution d'un système selon l'invention ;
The invention will be better understood with the help of the description which follows, given solely by way of example and made with reference to the appended drawings, in which:
  • there figure 1 represents a perspective side view with transparent parts, of a submerged storage and maintenance system in operational condition according to the invention,
  • THE figures 2 and 3 represent partial views of this system illustrating the operation of means forming an entry and exit door of this system,
  • there Figure 4 represents a detailed view illustrating an exemplary embodiment of means forming a cradle for receiving an underwater vehicle, forming part of the constitution of a system according to the invention,
  • there Figure 5 represents a detailed view of means in the form of a clamp for holding the machine in position in such a structure,
  • there Figure 6 represents a perspective view of an example of an underwater vehicle,
  • there Figure 7 illustrates the operation of filling/draining means forming part of the constitution of a submerged system according to the invention,
  • there figure 8 illustrates the structure and operation of the inductive coupling means used in the constitution of a system according to the invention, and
  • there Figure 9 illustrates the structure and operation of electrical power supply means used in the constitution of a system according to the invention;

On a en effet illustré sur ces figures et en particulier sur la figure 1, un système immergé de stockage et de maintien en condition opérationnelle d'un engin sous-marin tel qu'un drone.We have in fact illustrated in these figures and in particular on the figure 1 , a submerged system for storing and maintaining an underwater vehicle such as a drone in operational condition.

Le système est désigné par la référence générale 1, tandis que l'engin sous-marin est désigné par la référence générale 2.The system is designated by the general reference 1, while the underwater vehicle is designated by the general reference 2.

De façon générale et comme cela est illustré, un tel système comporte des moyens formant embase de piètement, désignés par la référence générale 3, sur lesquels sont prévus des moyens en forme de cloche de réception de l'engin sous-marin 2, en position de stockage, ces moyens en forme de cloche étant désignés par la référence générale 4.In general and as illustrated, such a system comprises means forming a base base, designated by the general reference 3, on which are provided bell-shaped means for receiving the underwater vehicle 2, in position storage, these bell-shaped means being designated by the general reference 4.

Ce système comporte également des moyens de remplissage/vidange de ces moyens en forme de cloche 4 à l'aide d'un fluide de préservation de l'engin sous-marin 2.This system also includes means for filling/emptying these bell-shaped means 4 using a fluid for preserving the underwater vehicle 2.

Ces moyens seront décrits plus en détail par la suite.These means will be described in more detail later.

Un tel système 1 est destiné à être immergé et par exemple à reposer sur le fond tel que le fond marin.Such a system 1 is intended to be submerged and for example to rest on the bottom such as the seabed.

Il est alors utilisé pour réaliser des opérations basiques de maintien en condition opérationnelle de l'engin sous-marin 2, comme par exemple la recharge de moyens de stockage d'énergie électrique de celui-ci, comme cela sera décrit plus en détail par la suite.It is then used to carry out basic operations to maintain the underwater vehicle 2 in operational condition, such as for example the recharging of its electrical energy storage means, as will be described in more detail by the following.

A cet effet et plus particulièrement, les moyens en forme de cloche 4 de celui-ci comportent par exemple à une extrémité, des moyens formant porte permettant à l'engin sous-marin 2 d'entrer et de sortir des moyens en forme de cloche 4.For this purpose and more particularly, the bell-shaped means 4 thereof comprise for example at one end, means forming a door allowing the underwater vehicle 2 to enter and exit the bell-shaped means 4.

En fait, ces moyens formant porte sont désignés par la référence générale 5 sur ces figures 1 à 3, et se présentent par exemple sous la forme d'une porte articulée déployable entre une position escamotée, illustrée sur la figure 2, et une position active déployée, illustrée sur la figure 3.In fact, these door forming means are designated by the general reference 5 on these figures 1 to 3 , and are presented for example in the form of an articulated door deployable between a retracted position, illustrated on the figure 2 , and an active deployed position, shown on the Figure 3 .

En position escamotée, c'est-à-dire porte ouverte, l'engin sous-marin 2 peut alors pénétrer dans les moyens en forme de cloche 4 pour être stocké dans ceux-ci.In the retracted position, that is to say with the door open, the underwater vehicle 2 can then enter the bell-shaped means 4 to be stored therein.

Une fois l'engin en position de stockage dans les moyens en forme de cloche 4, la porte peut alors être refermée.Once the machine is in the storage position in the bell-shaped means 4, the door can then be closed.

Comme cela a été indiqué précédemment, le système comporte des moyens de réception de l'engin sous-marin 2 en position de stockage.As indicated previously, the system includes means for receiving the underwater vehicle 2 in the storage position.

Un exemple de réalisation de ces moyens de réception est illustré sur ces figures et en particulier sur les figures 1, 4 et 5.An example of production of these reception means is illustrated in these figures and in particular on the figures 1 , 4 And 5 .

Ces moyens de réception comportent en fait des moyens allongés formant berceau d'accueil de l'engin sous-marin 2 en position de stockage.These reception means in fact comprise elongated means forming a cradle for receiving the underwater vehicle 2 in the storage position.

Ces moyens formant berceau sont désignés par la référence générale 6 sur ces figures.These means forming a cradle are designated by the general reference 6 in these figures.

En fait et comme cela est illustré en particulier sur la figure 1 et sur la figure 4, ces moyens formant berceau 6 comportent un élément de forme cylindrique allongé, désigné par la référence générale 7, comportant à l'une de ses extrémités, c'est-à-dire à l'extrémité en regard des moyens formant porte 5 de la cloche 4, un cône de guidage de l'engin en position de stockage dans celui-ci.In fact and as is illustrated in particular on the figure 1 and on the Figure 4 , these means forming a cradle 6 comprise an element of elongated cylindrical shape, designated by the general reference 7, comprising at one of its ends, that is to say at the end facing the means forming a door 5 of the bell 4, a cone for guiding the machine into the storage position therein.

Sur ces figures, le cône est désigné par la référence générale 8.In these figures, the cone is designated by the general reference 8.

A l'autre de ses extrémités, c'est-à-dire l'extrémité opposée à l'entrée de la cloche 4, les moyens formant berceau d'accueil comportent une coiffe de butée avant pour l'extrémité avant de l'engin sous-marin 2.At the other of its ends, that is to say the end opposite the entrance of the bell 4, the means forming a reception cradle comprise a front stop cap for the front end of the machine submarine 2.

Cette coiffe est par exemple désignée par la référence générale 9 sur ces figures et est reliée au reste du système par exemple par l'intermédiaire de moyens d'amortissement désignés par la référence générale 10.This cap is for example designated by the general reference 9 in these figures and is connected to the rest of the system for example by means of damping means designated by the general reference 10.

Ces moyens d'amortissement comprennent par exemple un bloc de matériau déformable élastiquement.These damping means include for example a block of elastically deformable material.

Dans sa partie intermédiaire, cet élément cylindrique, constituant les moyens formant berceau d'accueil de l'engin sous-marin, comprend des moyens en forme de pince de maintien de l'engin en position.In its intermediate part, this cylindrical element, constituting the means forming a cradle for receiving the underwater vehicle, comprises means in the form of a clamp for holding the vehicle in position.

Ces moyens en forme de pince sont désignés par la référence générale 11 sur ces figures et sont illustrés en détail sur la figure 5.These clamp-shaped means are designated by the general reference 11 in these figures and are illustrated in detail in the figure 5 .

En fait, ces moyens en forme de pince comprennent deux branches de pince, respectivement 12 et 13, s'étendant de part et d'autre de l'élément de forme cylindrique 7 des moyens de réception de l'engin sous-marin et sont actionnés par exemple par des moyens tels qu'un vérin, désigné par la référence générale 14, pour venir saisir l'engin sous-marin et le maintenir en position.In fact, these clamp-shaped means comprise two clamp branches, respectively 12 and 13, extending on either side of the cylindrical-shaped element 7 of the means for receiving the underwater vehicle and are actuated for example by means such as a jack, designated by the general reference 14, to grip the underwater vehicle and hold it in position.

Comme cela a été indiqué précédemment, dans cette position de stockage, il est possible d'assurer des opérations basiques de maintien en condition opérationnelle de l'engin sous-marin 2, telles que la recharge des moyens de stockage d'énergie par exemple électrique de celui-ci ou d'autres opérations d'échange d'informations entre l'engin et le reste de la structure, etc...As indicated previously, in this storage position, it is possible to ensure basic operations for maintaining the underwater vehicle 2 in operational condition, such as recharging the energy storage means, for example electrical. of this or other information exchange operations between the machine and the rest of the structure, etc.

A cet effet, des moyens d'accouplement électrique peuvent être prévus entre les moyens formant berceau d'accueil et l'engin sous-marin 2.For this purpose, electrical coupling means can be provided between the means forming a reception cradle and the underwater vehicle 2.

Ces moyens d'accouplement sont par exemple des moyens d'accouplement inductif.These coupling means are for example inductive coupling means.

On a illustré un exemple de réalisation de ces moyens en particulier sur les figures 4 et 6.An example of the implementation of these means has been illustrated, in particular on the figures 4 and 6 .

On voit en effet sur la figure 4, que les moyens formant berceau d'accueil 6 et en particulier l'élément de forme cylindrique 7 de celui-ci peuvent comporter par exemple à proximité de son extrémité avant, des moyens d'accouplement électrique inductif, désignés par la référence générale 15, qui sont adaptés, lorsque l'engin sous-marin 2, est en position de stockage dans ces moyens formant berceau 6, pour s'étendre en regard de moyens d'accouplement complémentaires 16 de l'engin sous-marin 2.We see in fact on the figure 4 , that the means forming a reception cradle 6 and in particular the cylindrical-shaped element 7 thereof can comprise, for example, near its front end, inductive electrical coupling means, designated by the general reference 15, which are adapted, when the underwater vehicle 2, is in the storage position in these means forming a cradle 6, to extend opposite complementary coupling means 16 of the underwater vehicle 2.

Bien entendu, ceci permet par exemple de transférer de l'énergie électrique pour assurer la recharge des moyens de stockage d'énergie électrique de l'engin sous-marin 2 et/ou d'assurer un échange d'informations entre l'engin et les moyens en forme de berceau 6, par exemple pour récupérer des informations de l'engin sous-marin ou au contraire assurer la mise à jour d'informations dans cet engin sous-marin à partir du reste du système.Of course, this makes it possible, for example, to transfer electrical energy to ensure the recharging of the electrical energy storage means of the underwater vehicle 2 and/or to ensure an exchange of information between the vehicle and the means in the form of a cradle 6, for example to recover information from the underwater vehicle or on the contrary ensure the updating of information in this underwater vehicle from the rest of the system.

Il va de soi bien entendu que d'autres modes de réalisation peuvent encore être envisagés.It goes without saying that other embodiments can still be envisaged.

On conçoit que toute cette structure est destinée à permettre la réception de l'engin sous-marin 2 en position de stockage dans un berceau d'accueil d'une structure immergée, pour assurer la préservation de celui-ci et l'augmentation de sa durée de vie opérationnelle.We understand that this entire structure is intended to allow the reception of the underwater vehicle 2 in the storage position in a reception cradle of a submerged structure, to ensure the preservation of the latter and the increase of its operational lifespan.

Comme cela a été indiqué précédemment également, on peut utiliser un fluide de préservation de l'engin sous-marin 2, lorsque celui-ci est en position de stockage dans les moyens en forme de cloche 4.As was also indicated previously, a fluid for preserving the underwater vehicle 2 can be used, when the latter is in the storage position in the bell-shaped means 4.

Ce fluide est constitué par du liquide qui est destiné à être injecté dans les moyens en forme de cloche 4, pour remplacer l'eau de mer afin d'assurer la préservation de l'engin sous-marin 2.This fluid consists of liquid which is intended to be injected into the bell-shaped means 4, to replace the sea water in order to ensure the preservation of the underwater vehicle 2.

En fait, ce fluide de préservation peut par exemple être stocké dans des conteneurs ou des moyens de réception correspondants, intégrés par exemple dans les moyens formant embase de piètement 3.In fact, this preservation fluid can for example be stored in containers or corresponding receiving means, integrated for example in the means forming a base base 3.

Ainsi par exemple sur ces figures et en particulier sur les figures 1, 2 et 3, ces moyens de réception sont constitués par des réservoirs, par exemple flexibles et compensés, placés dans les moyens de piètement 3 et dont l'un est désigné par la référence générale 17.So for example on these figures and in particular on the figures 1 , 2 and 3 , these reception means are constituted by reservoirs, for example flexible and compensated, placed in the base means 3 and one of which is designated by the general reference 17.

Comme cela a été indiqué précédemment, ce fluide de préservation peut alors être pompé ou vidangé des moyens en forme de cloche 4 de réception de l'engin sous-marin 2 en position de stockage, afin d'assurer la préservation de celui-ci.As indicated previously, this preservation fluid can then be pumped or drained from the bell-shaped means 4 for receiving the underwater vehicle 2 in the storage position, in order to ensure its preservation.

On a illustré schématiquement sur la figure 7, le fonctionnement de moyens de remplissage/vidange de ces moyens en forme de cloche 4.We have illustrated schematically on the Figure 7 , the operation of filling/emptying means of these bell-shaped means 4.

Ces moyens en forme de cloche sont toujours désignés par la référence générale 4 sur cette figure 7, et l'un des réservoirs par exemple 17, est illustré.These bell-shaped means are always designated by the general reference 4 on this Figure 7 , and one of the tanks for example 17, is illustrated.

Les moyens de remplissage/vidange des moyens en forme de cloche 4 sont alors associés à des moyens de canalisation et de mise en circulation du fluide entre les moyens en forme de cloche 4 et les réservoirs par exemple 17, selon les besoins de remplissage ou de vidange.The means for filling/emptying the bell-shaped means 4 are then associated with means for channeling and circulating the fluid between the bell-shaped means 4 and the tanks, for example 17, according to the needs for filling or emptying. draining.

Ces moyens comprennent alors par exemple des moyens de pompage, désignés par la référence générale 18, comprenant une pompe associée à un moteur, et raccordés par des moyens de canalisation 19 au réservoir 17, et par des moyens de canalisation 20 aux moyens en forme de cloche 4.These means then comprise for example pumping means, designated by the general reference 18, comprising a pump associated with a motor, and connected by pipe means 19 to the tank 17, and by pipe means 20 to the means in the form of bell 4.

Selon les souhaits, le moteur associé à la pompe est alors piloté pour assurer le pompage du fluide du réservoir dans les moyens en forme de cloche ou l'inverse.Depending on the wishes, the motor associated with the pump is then controlled to pump the fluid from the reservoir into the bell-shaped means or vice versa.

On notera, comme cela est illustré sur ces figures, que les moyens en forme de cloche 4 peuvent comporter un volume tampon dans leur partie supérieure, désigné par la référence générale 21 sur cette figure 7.It will be noted, as illustrated in these figures, that the bell-shaped means 4 can include a buffer volume in their upper part, designated by the general reference 21 on this Figure 7 .

On a représenté sur les figures 8 et 9, un exemple de réalisation des moyens d'accouplement complémentaires 15 et 16 par induction électromagnétique, permettant notamment de transférer de l'énergie électrique vers l'engin sous-marin 2 afin de recharger ses moyens de stockage d'énergie.We represented on the figures 8 and 9 , an example of embodiment of complementary coupling means 15 and 16 by electromagnetic induction, allowing in particular to transfer electrical energy to the underwater vehicle 2 in order to recharge its energy storage means.

On reconnaît en effet sur ces figures, les moyens de réception 6, l'engin sous-marin 2 et les moyens d'accouplement inductif complémentaires 15 et 16.We can in fact recognize in these figures the reception means 6, the underwater vehicle 2 and the complementary inductive coupling means 15 and 16.

Ces moyens d'accouplement comprennent les moyens d'accouplement électrique inductif 15 des moyens formant berceau 6 de réception de l'engin sous-marin 2 et les moyens d'accouplement complémentaires 16 de cet engin sous-marin 2.These coupling means include the inductive electrical coupling means 15 of the means forming a cradle 6 for receiving the underwater vehicle 2 and the complementary coupling means 16 of this underwater vehicle 2.

En fait, les moyens d'accouplement 15 des moyens de réception 6 de l'engin sous-marin 2, comportent une bobine émettrice, désignée par la référence générale 30 sur ces figures.In fact, the coupling means 15 of the receiving means 6 of the underwater vehicle 2 comprise a transmitter coil, designated by the general reference 30 in these figures.

Cette bobine émettrice 30 est intégrée dans un support des moyens de réception 6 de l'engin sous-marin et est raccordée à la sortie d'une source d'alimentation en énergie électrique de ces moyens de réception, qui sera décrite plus en détail par la suite.This transmitter coil 30 is integrated into a support of the reception means 6 of the underwater vehicle and is connected to the output of an electrical energy supply source of these reception means, which will be described in more detail by the following.

En fait et comme cela est illustré, cette bobine émettrice 30 est intégrée dans une enveloppe de protection, désignée par la référence générale 31.In fact and as illustrated, this transmitter coil 30 is integrated into a protective envelope, designated by the general reference 31.

Cette enveloppe de protection 31 présente une section de forme complémentaire à celle de la portion d'engin sous-marin 2 correspondante.This protective envelope 31 has a section of shape complementary to that of the corresponding underwater vehicle portion 2.

Cette enveloppe de protection 31 est par exemple réalisée en résine.This protective envelope 31 is for example made of resin.

Les moyens complémentaires 16 de l'engin sous-marin 2 sont formés sur l'un des flancs de celui-ci.The complementary means 16 of the underwater vehicle 2 are formed on one of its sides.

Ces moyens complémentaires 16 comprennent alors, en regard des moyens d'accouplement des moyens en forme de berceau 6 et en particulier de la bobine émettrice 30, une bobine réceptrice correspondante, désignée par la référence générale 32.These complementary means 16 then comprise, facing the means for coupling the means in the form of a cradle 6 and in particular the transmitter coil 30, a corresponding receiver coil, designated by the general reference 32.

Ainsi par exemple, cette bobine réceptrice est constituée de fils de Litz.So for example, this receiver coil is made up of Litz wires.

Cette bobine est également noyée dans une enveloppe de protection en résine, telle que, par exemple, celle désignée par la référence générale 33 sur cette figure 8.This coil is also embedded in a protective resin casing, such as, for example, that designated by the general reference 33 on this figure 8 .

Cette enveloppe de protection 33 est par exemple collée sur l'engin sous-marin 2.This protective envelope 33 is for example glued to the underwater vehicle 2.

On notera de plus que cet engin sous-marin peut comporter, au niveau des moyens 16 complémentaires d'accouplement par induction électromagnétique, des moyens formant écran de protection de l'intérieur de celui-ci contre les champs électromagnétiques rayonnés, ces moyens formant écran étant désignés par la référence générale 34.It will also be noted that this underwater vehicle can include, at the level of the complementary means 16 for coupling by electromagnetic induction, means forming a screen for protecting the interior thereof against radiated electromagnetic fields, these means forming a screen being designated by the general reference 34.

Sur la figure 8, on reconnaît également un câble d'alimentation 35 s'étendant entre la bobine réceptrice 32 et le reste de l'engin sous-marin 2 et par exemple les moyens de stockage d'énergie électrique de celui-ci pour assurer leur recharge.On the figure 8 , we also recognize a power cable 35 extending between the receiving coil 32 and the rest of the underwater vehicle 2 and for example the electrical energy storage means thereof to ensure their recharging.

Sur cette même figure 8, on reconnaît également un câble 36 de transmission d'informations.On this same figure 8 , we also recognize a cable 36 for transmitting information.

On a représenté sur la figure 9, le schéma électrique de raccordement de ces différentes bobines 30 et 32.We represented on the Figure 9 , the electrical connection diagram of these different coils 30 and 32.

On reconnaît en effet sur cette figure 9, les moyens formant berceau 6 de réception de l'engin sous-marin 2.In fact, we recognize on this Figure 9 , the means forming a cradle 6 for receiving the underwater vehicle 2.

On reconnaît également sur cette figure 9, la bobine émettrice correspondante 30 et la bobine réceptrice correspondante 32.We also recognize on this Figure 9 , the corresponding transmitter coil 30 and the corresponding receiver coil 32.

La bobine émettrice 30 est raccordée à des moyens d'alimentation en énergie électrique, désignés par la référence générale 37.The transmitter coil 30 is connected to electrical energy supply means, designated by the general reference 37.

Ces moyens d'alimentation 37 comprennent en série une source d'alimentation alternative, désignée par la référence générale 38, un convertisseur de courant alternatif/continu 39, et un convertisseur de courant continu/alternatif 40 d'alimentation de cette bobine 30.These power supply means 37 comprise in series an alternative power source, designated by the general reference 38, an alternating/direct current converter 39, and a direct/alternating current converter 40 for supplying this coil 30.

Ces convertisseurs sont associés à des moyens de contrôle et de communication, désignés par la référence générale 41, permettant par exemple de piloter leur fonctionnement et de recueillir des informations à partir de l'engin sous-marin 2.These converters are associated with control and communication means, designated by the general reference 41, making it possible for example to control their operation and to collect information from the underwater vehicle 2.

A l'intérieur de l'engin sous-marin 2, la bobine réceptrice 32 est quant à elle également raccordée à travers un convertisseur alternatif/continu, désigné par la référence générale 42, aux moyens de stockage d'énergie électrique, par exemple 43, de l'engin sous-marin 2.Inside the underwater vehicle 2, the receiving coil 32 is also connected via an alternating/direct converter, designated by the general reference 42, to the electrical energy storage means, for example 43 , of the underwater vehicle 2.

On conçoit alors qu'une telle structure présente un certain nombre d'avantages par rapport aux structures de l'état de la technique.We can then see that such a structure presents a certain number of advantages compared to structures of the state of the art.

En effet, le système immergé selon l'invention permet de stocker un engin sous-marin, entre deux missions, dans un bain de fluide de préservation en le protégeant de tout contact avec l'eau de mer et donc des effets de corrosion.Indeed, the submerged system according to the invention makes it possible to store an underwater vehicle, between two missions, in a bath of preservation fluid, protecting it from any contact with seawater and therefore from the effects of corrosion.

Le système selon l'invention permet également de fournir une enceinte de protection de l'engin vis-à-vis des agressions extérieures naturelles ou non naturelles telles que par exemple des chutes d'objets légers.The system according to the invention also makes it possible to provide a protective enclosure for the machine against natural or unnatural external attacks such as, for example, falling light objects.

Des opérations élémentaires de maintien en condition opérationnelle peuvent également être mises en oeuvre telles que par exemple l'échange d'informations ou la recharge des moyens de stockage d'énergie électrique de l'engin sous-marin 2.Elementary operations for maintaining operational condition can also be implemented, such as for example the exchange of information or the recharging of the electrical energy storage means of the underwater vehicle 2.

Cet engin peut alors être conservé pendant une durée plus ou moins longue en toute sécurité dans la cloche jusqu'à sa prochaine mission.This device can then be kept for a more or less long period safely in the bell until its next mission.

Pour lancer cette nouvelle mission, il suffit alors de déclencher la vidange de la cloche 4, d'ouvrir la porte 5 de celle-ci et de relâcher l'engin sous-marin 2, afin qu'il puisse mener à bien une nouvelle mission jusqu'à son retour dans la cloche de protection.To launch this new mission, it is then sufficient to trigger the emptying of bell 4, open door 5 thereof and release underwater vehicle 2, so that it can carry out a new mission. until he returns to the protective bell.

Bien entendu d'autres modes de réalisation peuvent encore être envisagés.Of course other embodiments can still be envisaged.

Claims (7)

  1. .- Submerged system (1) for storing an underwater vehicle (2) such as a drone and keeping it in operational condition, characterised in that it comprises means forming a base (3) on which are provided bell-shaped means (4) for receiving the underwater vehicle (2) comprising cradling means for receiving the underwater vehicle (2) in the storage position and means for filling/draining (18,19,20) these bell-shaped means (4) with a fluid for preserving the underwater vehicle (2), the fluid being constituted by liquid which is intended to be injected into the bell-shaped means (4), to replace sea water in order to ensure the preservation of the underwater vehicle (2), and in that the means forming a reception cradle (6) comprise a cylindrical-shaped element (7) having, at one of its ends, a cone (8) for guiding the device into the storage position in the latter, at the other of its ends, a front stop cap (9) for the front end of the device and, in its intermediate part, clamp-shaped means (11) for holding the vehicle (2) in position.
  2. .- The system according to claim 1, characterised in that the bell-shaped means (4) comprises gate means (5) enabling the underwater vehicle (2) to enter and exit the bell-shaped means (4).
  3. .- The system according to any one of the preceding claims, characterised in that the cylindrical-shaped element (7) of the reception cradle means (6) comprises in its intermediate part means for electrical coupling (15) to the vehicle (2) in order to recharge the latter's energy storage means and/or to exchange information with the vehicle.
  4. .- The system according to claim 3, characterised in that the coupling means (15) are inductive coupling means.
  5. .- The system according to any one of the preceding claims, characterised in that the clamp-shaped means (11) comprise two clamp arms (12, 13) extending on either side of the cradling means (6) and associated with actuating means (14).
  6. .- The system according to any one of the preceding claims, characterised in that the fluid for preserving the underwater vehicle is stored in corresponding receiving means (17) integrated into the means forming the base (3).
  7. .- The system according to any one of the preceding claims, characterised in that the means for filling/draining the bell-shaped means (4) comprise means (17) forming a container for receiving fluids, associated with means (19, 20) for channelling and circulating (18) the fluid between the bell-shaped means (4) and the container-forming means (17), as required for filling or draining.
EP18712217.1A 2017-03-23 2018-03-22 Submerged system for storing an underwater vehicle such as a drone and keeping it in operational condition Active EP3601036B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1700305A FR3064244B1 (en) 2017-03-23 2017-03-23 IMMERSED SYSTEM FOR STORING AND MAINTAINING AN UNDERWATER VEHICLE SUCH AS A DRONE IN OPERATIONAL CONDITION
PCT/EP2018/057329 WO2018172469A1 (en) 2017-03-23 2018-03-22 Submerged system for storing an underwater vehicle such as a drone and keeping it in operational condition

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Publication Number Publication Date
EP3601036A1 EP3601036A1 (en) 2020-02-05
EP3601036B1 true EP3601036B1 (en) 2023-12-13

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EP (1) EP3601036B1 (en)
ES (1) ES2971600T3 (en)
FI (1) FI3601036T3 (en)
FR (1) FR3064244B1 (en)
WO (1) WO2018172469A1 (en)

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KR102151139B1 (en) * 2018-11-22 2020-09-02 한화시스템 주식회사 Doking station in underwater

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Publication number Priority date Publication date Assignee Title
US4306413A (en) * 1975-06-30 1981-12-22 The United States Of America As Represented By The Secretary Of The Navy Hydraulic power and control system
ES2403018B1 (en) * 2011-11-07 2014-03-26 Navantia, S.A. DRY REFUGE TO INCREASE THE OPERATING CAPACITY OF A SUBMARINE.
CA2886947A1 (en) * 2012-10-08 2014-04-17 Korea Institute Of Industrial Technology Docking station for underwater robot
FR3002916B1 (en) * 2013-03-05 2015-03-06 Thales Sa SYSTEM AND METHOD FOR RECOVERING AN AUTONOMOUS SUBMARINE
CN106314732B (en) * 2016-10-14 2018-01-26 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） AUV underwater matings and draw off gear

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ES2971600T3 (en) 2024-06-06
FI3601036T3 (en) 2024-02-22
FR3064244B1 (en) 2023-11-10
WO2018172469A1 (en) 2018-09-27
FR3064244A1 (en) 2018-09-28
EP3601036A1 (en) 2020-02-05

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