EP3652062A1 - Corps sous-marin à volume modulable et procédé permettant de faire fonctionner un tel corps sous-marin - Google Patents

Corps sous-marin à volume modulable et procédé permettant de faire fonctionner un tel corps sous-marin

Info

Publication number
EP3652062A1
EP3652062A1 EP18739512.4A EP18739512A EP3652062A1 EP 3652062 A1 EP3652062 A1 EP 3652062A1 EP 18739512 A EP18739512 A EP 18739512A EP 3652062 A1 EP3652062 A1 EP 3652062A1
Authority
EP
European Patent Office
Prior art keywords
underwater body
cavity
fluid
underwater
water
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
EP18739512.4A
Other languages
German (de)
English (en)
Other versions
EP3652062B1 (fr
Inventor
Dennis Meyer
Detlef Lambertus
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.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik GmbH
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 Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Publication of EP3652062A1 publication Critical patent/EP3652062A1/fr
Application granted granted Critical
Publication of EP3652062B1 publication Critical patent/EP3652062B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
    • F42B19/01—Steering control
    • F42B19/04—Depth control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
    • F42B19/36—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means adapted to be used for exercise purposes, e.g. indicating position or course
    • F42B19/38—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means adapted to be used for exercise purposes, e.g. indicating position or course with means for causing torpedoes to surface at end of run
    • F42B19/44—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means adapted to be used for exercise purposes, e.g. indicating position or course with means for causing torpedoes to surface at end of run by enlarging displacement
    • 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
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks

Definitions

  • the invention relates to an underwater body with a movable component which can be brought into an extended position and thereby increases the volume of the underwater body. Furthermore, the invention relates to a method for operating such an underwater body.
  • An underwater body such as an autonomous unmanned underwater vehicle (AUV), or underwater body or underwater glider, often needs to be transported to a job site in an aircraft or watercraft when a coast has poor shore or water accessibility, a shore landfall device is not installed, or a floating transport platform, for example due to high waves or rocks, can not be used.
  • the transport of an underwater body in an aircraft, for example in a helicopter, requires a very compact form of the underwater body.
  • a compact design of the underwater body brings in the water the disadvantages of insufficient buoyancy and / or unfavorable density of the underwater body and possibly unfavorable running characteristics with it.
  • DE 836603 C shows a small submarine whose hull consists of two parts a and b, which are inserted into each other. More precisely, the longitudinal wall of part a has two individual walls, between which part b is inserted. The part b can be shifted linearly relative to the part a. By moving part b away from part a, the volume of the small submarine is increased.
  • Two opposing racks e each engage a gear. The rear ends of the racks e are fixed with connected to the part b, the two gear fixed to the part a. The two drives of the racks e are coupled together.
  • FR 2830837 A1 shows an underwater vehicle (PAP 104 - "Poisson Auto Propulse", P), which is guided on a cable (filoguide) and, for example, can destroy mines on the seabed. After a mission, this underwater vehicle PAP 104 should reappear on the surface. Therefore, two balloons are in a folded state (deux ballons replies 1 a) accommodated in a cavity which is closed by a two-piece closure (deux demi carenage 1 c), cf. Fig. 1.
  • a lock (verrou 1 h) connects the two closure parts 1 c together (deux demi carenage 1 c, fixes entre eux, pour la navigation, par les verrous 1 h).
  • Each balloon 1 a is mounted by means of a holding element (contre-form 1 e) to the inner wall of a closure part 1 c.
  • Each closure part 1 c is at a
  • Mounting unit (adapteur 4) mounted so that the closure part 1 c about an axis 1 g is pivotable.
  • Each balloon is able to absorb in the inflated state 1 b, for example, seven liters, see. Fig. 1.
  • compressed air can be passed through a pneumatic connection (distribution de l'air 5) in a balloon 1 a, 1 b, to inflate it.
  • This source 6 comprises, for example, a compressed air cylinder 6a (bouteille de gaz comprime 6a) with a connecting body (corps 6b) and a displaceable piston (piston coulissant 6c), which optionally enables or prevents the escape of compressed air, cf. Fig. 3.
  • FR 2943615 A1 shows an underwater body (flotteur) with a fuselage (fuselage 101) on which two movable cylindrical components (deux appendices mobiles 121, 122 cylindriques) are mounted. Each component 121, 122 can be moved along an axis a two, which is perpendicular to the longitudinal axis 1 1 of the fuselage 101.
  • Fig. 1 a shows the two components 121, 122 in a retracted position (position rentre), Fig. 1 b in an extended position (position sorti).
  • the underwater body has its minimum volume when extended, its maximum volume.
  • a double-acting piston-cylinder unit (verin ä double effet) can move a component 121 relative to the fuselage 101, see. Fig. 2a.
  • the cylinder 151 is mounted on the body 101, the piston rod 152 on the component 121.
  • a ball bearing 161, 162, 163 prevents the ingress of water.
  • a compliant membrane membrane souple 181, membrane 182 is mounted between the component 121 and the fuselage 101, cf. Fig. 2b and Fig. 2c.
  • US 6923105 B1 describes a counter-measure device 10 with a cylindrical shell 12 which is capable of destroying an attacking torpedo.
  • a drive thrusters 22
  • a weapon gun 14
  • a plurality of inflatable chambers inflatable chambers 24
  • the object of the invention is to provide an underwater body having the features of the preamble of claim 1 and a method having the features of the preamble of claim 16, which simply cause the movable component to be moved to and remain in the extended position.
  • the underwater body according to the invention comprises
  • the movable member is movable relative to the sleeve from a retracted position to an extended position. As the movable component is moved from the retracted position to the extended position, the volume of the underwater body is increased.
  • the expansion agent is able to direct a fluid into the cavity.
  • the cavity is in operative connection with the movable component. The act of directing fluid into the cavity causes the movable component to move to the extended position.
  • the fluid in the cavity hardens.
  • the cured fluid in the cavity holds the movable member in the extended position.
  • the underwater body according to the invention can automatically change its volume. If the movable member is in the retracted position, the underwater body has a smaller volume. If the movable member is in the extended position, the underwater body has a larger volume. As a result, the underwater body meets the two contradictory requirements, namely that the underwater body should on the one hand during transport the smallest possible volume and on the other hand when used in water should have a sufficiently large volume.
  • the buoyancy experienced by a body in the water is equal to the weight of the water displaced by the body. In many applications it is desired that the buoyancy of an underwater body is approximately equal to the weight, so that it is not or only to a small extent necessary to keep an underwater body by means of an elevator in a desired depth of water.
  • An elevator will only change the depth when the underwater body is moved, while a volume change will also affect an underwater body that is not currently being moved through the water.
  • a further advantage of the invention is achieved, in particular, when the underwater body is to be dropped from an aircraft or a surface vehicle. After hitting the water should the Underwater body reach a desired water depth. As long as the underwater body is in the water and above this water depth, the buoyancy should be less than the weight, so that the underwater body sinks.
  • the invention makes it possible to move the movable component so that it assumes the extended position upon reaching the desired depth of water.
  • the underwater body with the movable component in the retracted position performs a predetermined task and then the movable component is moved to the extended position.
  • the underwater body may have a desired hydrodynamic shape when the movable member is in the retracted position.
  • the moving component in the retracted position reduces the risk of damaging the underwater body during transport or even when dropped into the water.
  • the expansion medium directs a fluid into the cavity.
  • the cavity is in communication with the movable component.
  • the movable component is moved to the extended position.
  • This feature avoids the need for an actuator, such as a linear electric motor or a hydraulic piston and cylinder unit, to move the moving component.
  • Such an actuator must be powered and must be mechanically coupled to the moving component.
  • the expansion means need only be in fluid communication with the cavity.
  • Such a fluid connection can be made easier in many embodiments than a mechanical connection between an actuator and the movable component.
  • the fluid cures in the cavity.
  • the hardened fluid holds the movable member in the extended position.
  • the hardened fluid prevents the pressure of the surrounding water from moving the moveable component away from the extended position.
  • the volume of the underwater body and thus essentially the buoyancy remain constant.
  • the movable member completely or at least partially surrounds the cavity.
  • the expansion medium thus directs the liquid fluid into a cavity in the interior of the movable component.
  • the introduction of fluid results in moving the movable member relative to the sheath to the extended position.
  • the fluid hardens inside the movable member thereby holding the movable member in the extended position.
  • the cavity is connected via a piston-cylinder unit with the movable component.
  • the cavity is formed in a chamber of the piston-cylinder unit.
  • the expansion medium directs the fluid into this chamber, the fluid in the chamber displaces the piston, the displacement of the piston shifts the movable component to the extended position, and the fluid cures in this chamber.
  • This configuration allows it is to arrange the further component spatially remote from the cavity for the fluid.
  • the further component does not necessarily have to have a cavity. This embodiment makes it easier to design the movable component and adapt it to given requirements, for example to a desired hydrodynamic shape of the underwater body.
  • a planar element is mounted on the outside of the shell of the underwater body.
  • the planar element belongs to the movable component and can be pivoted relative to the shell. By pivoting the sheet member away from the shell, the sheet member is moved to an extended position, and the volume of the underwater body is increased.
  • the cavity is formed between the sheet member and the outside of the casing.
  • planar element completely surrounds the cavity. In another embodiment, the planar element in the extended position only partially surrounds the cavity. The hardened fluid in the cavity comes into contact with the environment, for example with the surrounding water.
  • the shell of the underwater body extends along a longitudinal axis.
  • the movable component can be displaced relative to the envelope along the longitudinal axis, ie in a direction of movement parallel to the longitudinal axis.
  • the moveable component may form a segment of the envelope. It is possible that the movable component in the retracted position telescopically overlaps with the shell or the rest of the shell.
  • a flexible seal may be disposed between the moveable component and the shell or remainder of the shell.
  • the length and volume of the underwater body become increased.
  • This configuration allows the diameter or, more generally, any dimension of the underwater body to remain constant in a plane perpendicular to the longitudinal axis, regardless of the position of the movable component.
  • the hydrodynamic properties of the underwater body are not significantly changed when the movable component is moved to the extended position.
  • the movable component may in particular be arranged at the stern or at the bow of the hull of the underwater body. It is also possible that the movable component is moved in a direction perpendicular to or obliquely to the longitudinal axis in the extended position.
  • the expansion means is preferably arranged inside the shell and in one embodiment outside the movable component.
  • the shell protects the expansion agent from environmental influences. When the expansion means is located outside the movable member, it will not move when the movable member is moved relative to the sleeve. As a result, only a smaller mass needs to be moved.
  • the fluid is in a liquid or gaseous state as it flows into the cavity and cures in the cavity.
  • the fluid is completely present on board the underwater body.
  • a substance is conducted on board the underwater body into the cavity. The process of curing the fluid in the cavity is accomplished, at least in part, by passing ambient water into the cavity. The water in the cavity causes the substance to harden in the cavity. The fluid in the cavity cures, for example, by a chemical process or by heating.
  • the fluid is a mounting foam and / or comprises polyurethane. It is possible to use a mounting foam, which is also suitable for sealing buildings. This configuration eliminates the need to produce a particular fluid. Rather, can be used commercially available mounting foam.
  • the expansion means comprises at least one container, for example, a cartridge, with the mounting foam. By opening an opening of this or each cartridge, the mounting foam exits the cartridge and is directed into the cavity.
  • the expansion means comprises a plurality of cartridges, so that even if a cartridge fails, there is still sufficient fluid available.
  • the fluid in the or each cartridge is maintained under a positive pressure in a liquid state.
  • the or each cartridge is preferably a disposable container for the fluid.
  • At least one container with the fluid is prepared in advance and spent in the underwater body.
  • the fluid or at least one component of the fluid is generated in the underwater body itself, for example by a chemical process.
  • the fluid in the cavity is mechanically stable.
  • the fluid comprises, for example, isocyanate and polyol in an aerosol mixture.
  • the fluid foams and reacts with the moisture of the air or with the moisture on the interior walls of the cavity.
  • the liquid fluid in the container comprises two different components which react with each other in the cavity, wherein the one component acts as a crosslinker and or as a hardener. These two components can be stored in two different containers and only react with each other in the cavity.
  • fluid is simultaneously admitted into the cavity via a plurality of inlets.
  • This embodiment results in a uniform distribution of the fluid in the cavity compared to a configuration in which the fluid only flows into the cavity through a single inlet.
  • a locking unit can be moved from a locking state to a release state.
  • the locking unit comprises, for example, a folding element and / or a wedge element. In the locked state, the locking unit locks the movable component. In the release state, the locking unit allows the movable member to be moved relative to the sleeve.
  • the locking unit in the locked state prevents unwanted movement of the movable component relative to the shell. It is possible that an actuator additionally acts as the locking unit or that a locking unit is used in addition to the actuator. In a further development of this embodiment, the locking unit holds the movable component in the retracted position. As a result, the locking unit prevents in particular that the movable component is inadvertently moved from the retracted position during transport of the underwater body. This ensures that the underwater body retains its smallest possible volume during transport. It is also possible that the locking unit holds the movable component in the extended position.
  • an actuator transfers the locking unit from the locking state in the release state.
  • the introduction of fluid into the cavity causes the locking unit to be brought into the release state, for example by the pressure of the fluid in the cavity forcing the locking unit into the release state or for the locking unit to break so that it does not more the locking function.
  • a fluid sensor aboard the underwater body measures how much fluid is directed into the cavity. This fluid sensor measures a measure of the amount of fluid, for example, a period of time or a pressure that exerts the fluid, or in In the case of a moving component with a flexible outer shell, a measure of the pressure that the fluid exerts on the outer shell.
  • the expansion agent directs fluid into the hollow body until a predetermined amount of fluid is in the hollow body.
  • the expansion agent operates in response to signals from the fluid sensor. Once the predetermined amount of fluid is in the hollow body, the expansion agent aborts the process of passing fluid into the cavity.
  • This embodiment is a way to move the movable component to a certain extended position and thus to achieve a certain volume of the underwater body.
  • the movable component can be moved from the retracted to the extended position.
  • the movable component performs a movement relative to the shell.
  • a stop member limits the possible movement of the moveable component away from the shell.
  • This stop element thus defines the extended position of the movable component and consequently the maximum achievable volume of the underwater body.
  • This design eliminates the need to monitor the inflow of fluid into the cavity and to control or control the trapped amount of fluid to achieve a desired extended position of the moveable component and thus a desired volume of the underwater body. It is sufficient to introduce at least a predetermined amount of fluid into the cavity and let it harden.
  • the stopper member limits movement of the movable member even though the entire amount of the fluid is directed into the cavity. This embodiment further reduces the number of active moving components required and / or sensors of the underwater body.
  • the stop element can be fixed in a position relative to the shell, this position is selected from several possible positions.
  • the process of fixing the stopper member in a selected position can be performed before the underwater body is used.
  • By selecting a certain position and fixing the stop element in this selected position one volume of several possible ones can be obtained Achieve volumes of the underwater body with the moving component in the extended position.
  • This embodiment results in a particularly simple mechanism to achieve a desired volume, and saves a controllable actuator, which holds the movable member in a desired position, and a fluid sensor.
  • the embodiments with the stop element and with an actuator or the fluid sensor can also be combined.
  • the movable component is moved to the extended position after the underwater body has been dropped from, for example, an aircraft or an overwater vehicle, and then a predetermined time has elapsed.
  • the underwater body automatically activates the expansion means and thereby automatically triggers the step of directing fluid into the cavity in response to the detection of an event.
  • On board the underwater body there is a sensor which automatically detects this event.
  • the event may be, for example, that the underwater body is in the water, or that the underwater body is at a water depth that is greater than or equal to a predetermined water depth.
  • the sensor measures the pressure of the surrounding water.
  • the expansion means is activated after the sensor has detected the event and a predetermined time has elapsed.
  • a timer is activated and detects the event that since the activation of the timer a predetermined period of time has elapsed. The detection of this event triggers the step to activate the expansion agent.
  • the configuration with the sensor makes it easier to carry out the increase in volume so that the underwater body with the increased volume is kept at a certain water depth. If the underwater body itself can measure the current water depth, there is no need to specify a time span, and the right time to increase in volume will depend to a lesser extent on environmental conditions such as water currents and water temperature and salinity.
  • the movable component is a rigid component or has at least one rigid outer shell. As a result, the movable component deforms only insignificantly when the underwater body is exposed under water to the water pressure. The underwater body maintains its hydrodynamic shape substantially even at different depths.
  • the movable component has a flexible outer shell, for example in the manner of a balloon or a windsock.
  • This configuration makes it possible to store the flexible component with little space, for example inside the case, as long as the flexible component is to remain in the retracted state.
  • the fluid is directed into the moving component.
  • the introduced fluid stretches the flexible outer shell, thereby increasing the volume of the movable component and then curing in the enlarged movable component.
  • the fluid inflates the flexible outer shell and then cures in the inflated outer shell.
  • the underwater body is designed to be used underwater, and may have its own drive or be towed by another vehicle through the water.
  • the underwater body may be designed for civil and / or military purposes and may include sensors and / or actuators.
  • the underwater body can operate autonomously, ie without external command.
  • the underwater body is an unmanned autonomous underwater vehicle (AUV) or even a manned submarine.
  • the underwater body automatically triggers the step that the expansion agent directs the fluid into the cavity.
  • the underwater body is configured to receive setting commands from a remote platform, such as a surface vessel or an aircraft.
  • the underwater body is for example, a remote controlled unmanned underwater vehicle (ROV), an underwater robot, an underwater glider, or an underwater hull, such as a torpedo that is controlled via a fiber optic cable.
  • ROV remote controlled unmanned underwater vehicle
  • Such a control command causes, for example, that the expansion medium directs the fluid into the cavity.
  • the control commands are wirelessly, in particular by underwater communication, or routed via a cable from the remote platform to the underwater body.
  • the underwater body is dropped from an aircraft, such as a helicopter or an airplane, and falls into the water.
  • the aircraft transports the underwater body to a desired location.
  • the underwater body is dropped into the water from a platform in the water, for example from a surface ship or a stationary platform in the water.
  • the movable component is in the retracted position while the underwater body is being transported by the aircraft or watercraft so that the underwater body has the smallest possible volume during transport.
  • the dropped underwater body sinks in the water.
  • the movable component is moved to the extended position, and the volume of the underwater body in the water is increased, so that also the buoyancy acting on the underwater body is increased.
  • the underwater body now has a volume such that the weight of the displaced water is approximately equal to the weight of the underwater body and the underwater body approximately floats in the water. In another embodiment, the weight of the displaced water is greater than the weight of the underwater body, so that the underwater body rises again to the water surface and can be collected.
  • Figure 1 is a highly schematic sectional view of an underwater body with a folding envelope.
  • Figure 2 is a highly schematic sectional view of an underwater body with a displaceable shell segment in the front region of the underwater body.
  • Fig. 3 is a highly schematic sectional view of an underwater body with an expandable shell segment and a propeller drive arranged thereon.
  • the three figures show an underwater body 101, 201, 301, which moves in a direction of travel from left to right.
  • FIG. 1 a first embodiment of the invention is shown.
  • An underwater body 101 has a shell 103. Outside of the shell 103, a folding envelope 107 is arranged.
  • the folding envelope 107 is segmented and preferably arranged circumferentially around a longitudinal axis of the underwater body 101 and fastened by means of hinges 109 to the shell 103 of the underwater body 101.
  • the hinges 109 are connected to a servomotor 1 1 1.
  • a respective outlet of the respective mounting foam cartridges 1 13, 1 15, 1 17 and 1 19 is guided by the shell 103 of the underwater body 101 to the outside and are located between the folding envelope 107 and the outside of the shell 103.
  • the cartridges 1 13 to 1 19 belong to the expansion means of the first embodiment.
  • the expansion means comprises a component which holds the mounting foam 121 in the cartridges 1 13 to 1 19 in liquid or foamy state and thus prevents the mounting foam 121 already in a Cartridge 1 13 to 1 19 hardens, which is unintentional.
  • the underwater body 101 has a propeller drive 105.
  • the folding envelope 107 While the underwater body 101 is being transported, for example, in an aircraft, the folding envelope 107 is in a transport position, in which the flap 107 bears directly against the shell 103 of the underwater body. By means of a predetermined breakage holder, not shown, the folding envelope 107 is locked in this folded position. About the planned location of the underwater body 101 is dropped from the aircraft, not shown, into the sea or other waters and immersed in the water.
  • the underwater body 101 is automatically transferred from the transport position to a drive position when a predetermined event has occurred.
  • Fig. 1 shows the folding envelope 107 in this drive position.
  • This predetermined event occurs, for example, when a predetermined period of time has elapsed since being dropped from the aircraft.
  • a sensor (not shown) of the underwater body 101 detects the event that the underwater body 101 has reached the water, and the predetermined event occurs when a predetermined time has elapsed after this detection.
  • a depth sensor aboard the underwater body 101 measures the current depth of submersion of the underwater body 101 sinking in the water and in the transport position. As soon as the measured current diving depth coincides with a predetermined diving depth, the step is automatically triggered to transfer the underwater body from the transport position to the travel position.
  • the servomotor 1 1 1 releases the pivots 109.
  • the four mounting foam cartridges 1 13, 1 15, 1 17 and 1 19 are activated. For example, an opening in a cartridge 1 13 to 1 19 is opened in each case.
  • mounting foam 121 is released from the mounting foam cartridges 1 13, 1 15, 1 17 and 1 19, for example, because the liquid mounting foam 121 in the cartridge 1 13 to 1 19 was under pressure.
  • the release of the mounting foam 121 causes that the predetermined breakage bracket breaks and the lock is thereby released.
  • the released mounting foam 121 pushes against the flap 107.
  • the servomotor pivots 1 1 1, the folding envelope 107 away from the shell 103 of the underwater body 101st
  • the flap 107 is moved away from the shell 103 and unfolded to its maximum position.
  • a cavity is formed between the unfolded folding envelope 107 and the shell 103.
  • the mounting foam 121 hardens and thereby permanently locks the folding envelope 107.
  • the folding envelope 107 now has the shape of a truncated cone which surrounds the envelope 103.
  • the diameter of the folding envelope 107 increases in a direction toward the rear of the underwater body 101, so that further a favorable hydrodynamic shape is achieved.
  • the flip-flop 107 is held permanently in the maximum position, the volume of the underwater body 101 is permanently increased. It is also possible that the folding envelope 107 is swung out only to an intermediate position and the mounting foam 121 holds the folding envelope 107 in this intermediate position. In one embodiment is set in advance in a control program, in which position the folding envelope 107 is to be unfolded and locked there. This position may depend on a desired water depth and / or on the water temperature. In another embodiment, a stop member (not shown) limits the possible movement of the flip cover 107 away from the sheath 103. In a preferred embodiment, this stop member may be fixed in one of several possible positions such that a selected one of several possible volumes of the underwater body 101 is achieved.
  • each folding envelope 107 is connected to one spring element each.
  • This spring element endeavors to hold the folding envelope 107 in the transport position, ie in the position in which the folding envelope 107 rests against the envelope 103 of the underwater body 101.
  • the released mounting foam 121 pivots the folding envelope 107 against the spring force of this spring element of the shell 103 away.
  • the position which the swung-out folding envelope 107 reaches depends, on the one hand, on the spring force and, on the other hand, on the quantity of released assembly foam 121. At least one of these two parameters can be adjusted depending on a desired water depth and / or the water temperature.
  • Fig. 2 shows a second embodiment of the invention.
  • the underwater body 201 comprises a casing 203 and a propeller drive 205.
  • the casing 203 of the underwater body 201 comprises a sequence with four casing segments, namely a first casing segment 223, a second casing segment 225, a third casing segment 227 and a traverse direction from left to right Fourth sheath segment 229.
  • a first mounting foam cartridge 213 and a second mounting foam cartridge 215 are attached to the sheath 203, such as the first sheath segment 223.
  • One outlet of each of the cartridges 213 and 215 leads to the interior of the second sheath segment 225.
  • the second sheath segment 225 can be displaced relative to the third shell segment 227 along the longitudinal axis of the underwater body 201.
  • An optional linear motor 231 is capable of moving the second shell segment 225 relative to the shell 203.
  • a guide means (not shown) guides the second sheath segment 225 in movement relative to the third sheath segment 227.
  • the underwater body 201 has a compact shape with the smallest possible length and the smallest possible volume.
  • a flexible seal is disposed between the second sheath segment 225 and the third sheath segment 227. Between the second shell segment 225 and the first shell segment 223, a flexible seal is preferably also arranged. These flexible seals maintain their sealing effect even when the second sheath segment 225 moves.
  • the underwater body 201 is automatically transferred to a drive position.
  • Fig. 2 shows the underwater body 201 in this ride position.
  • the following steps are performed. From the first mounting foam cartridge 213 and the second mounting foam cartridge 215, mounting foam 221 exits.
  • the exiting mounting foam 221 causes the second sheath segment 225 to be displaced away from the third sheath segment 227. This increases the length and volume of the underwater body 201.
  • the linear motor 231 moves the second shell segment 225. It is possible that additionally a gas, for example compressed air, is introduced into the second shell segment 225 and additionally contributes to the displacement of the second shell segment 225.
  • a gas for example compressed air
  • the second shell segment 225 By displacing the second shell segment 225, a cavity is formed inside the second shell segment 225.
  • the mounting foam 221 flows into the second shell segment 225 and cures there.
  • the cured mounting foam 221 prevents water from entering the hollow interior of the second shell segment 225.
  • the first segment 223 is fixedly connected to the second envelope segment 225 and is also displaced away from the third envelope segment 227.
  • the diameter of the second sheath segment 225 is greater than the diameter of the first sheath segment 223. As a result, the volume of the underwater body 201 is increased even if the first sheath segment 223 is firmly connected to the third sheath segment 227.
  • the leaked mounting foam 221 cures in the created cavity and thereby secures the sliding second sheath segment 225 relative to the third sheath segment 227.
  • the amount by which the volume is increased depends on the amount of released mounting foam 221 that can be adjusted.
  • the linear motor 231 and / or a stop element limit the possible movement of the second envelope segment 225 away from the third envelope segment 227 and thereby define the amount of volume increase.
  • the underwater body 301 has a shell 303, which is in a sequence of five Is divided into a first envelope segment 323, a second envelope segment 325, a third envelope segment 327, a fourth envelope segment 329 and a fifth envelope segment 333.
  • the fifth envelope segment 333 is arranged at the rear of the underwater body 301 and carries the propeller drive 305 On the bow side, the fifth shell segment 333 is connected to a first mounting foam cartridge 313 and a second mounting foam cartridge 315.
  • the cartridges 313 and 315 are mounted on the rear wall of the fourth segment 329 and their outlets lead into the fifth shell segment 333.
  • the first four shell segments 323 to 329 are firmly connected together.
  • the fifth shell segment 333 encloses a hollow interior and can be moved relative to the fourth shell segment 329 along the longitudinal axis of the underwater body 301 to the rear.
  • a guide means guides the fifth shell segment 333 in movement relative to the fourth shell segment 329.
  • the fifth shell segment 333 is inserted into the fourth shell segment 329.
  • An arresting wedge not shown, locks the fifth envelope segment 333 in this position.
  • the propeller drive 305 is located directly on the rear end of the fourth Hüllensegments 329.
  • Fig. 3 shows the underwater body 301 in the travel position.
  • the locking of the fifth sheath segment 333 is released.
  • the mounting foam 321 is released from the first mounting foam cartridge 313 and the second mounting foam cartridge 315.
  • the released mounting foam 321 penetrates into the cavity inside the fifth shell segment 333.
  • the released mounting foam 321 thereby exerts a pressure on the fifth shell segment 333.
  • the fifth casing segment 333 together with the propeller drive 305 is pushed out of the fourth casing segment 329, specifically away from the fourth casing segment 329.
  • the released assembly foam 321 completely fills the cavity in the fifth casing segment 333 or at least partially and hardens.
  • the fifth hull segment 333 is permanently fixed in the extended position.
  • the optional linear motor 331 pushes the fifth envelope segment 333 away from the fourth envelope segment 329. It is possible that in addition a gas, for example compressed air, is introduced into the fifth envelope segment 333.
  • the linear motor 331 and / or an unillustrated drive member limits the linear movement of the fifth sheath segment 333 away from the fourth sheath segment 329. Again, the amount of volume magnification can be adjusted by adjusting the amount of released mounting foam 321 and / or the segment via which the linear motor 331 shifts the fifth shell segment 333, is set accordingly or by the stop element being fixed accordingly.
  • the folding envelope 107 is able to pivot
  • fifth, expandable shell segment carries the propeller drive 305

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un corps sous-marin (101) comportant un élément constitutif (107) mobile qui peut passer dans une position déployée, ce qui a pour effet d'augmenter le volume du corps sous-marin (101). L'invention concerne également un procédé permettant de faire fonctionner un tel corps sous-marin. Un moyen d'expansion (113, 115, 117, 119) permet à un fluide (121) de parvenir dans un espace creux. Ledit espace creux coopère avec l'élément constitutif (107) mobile. Du fait que le fluide (121) est guidé jusque dans l'espace creux, l'élément constitutif (107) mobile est déplacé en position déployée relativement à l'enveloppe (103) du corps sous-marin (101). Le fluide (121) durcit dans l'espace creux. Le fluide (121) durci situé dans l'espace creux maintient l'élément constitutif (107) mobile en position déployée.
EP18739512.4A 2017-07-12 2018-07-09 Corps sous-marin à volume modulable et procédé permettant de faire fonctionner un tel corps sous-marin Active EP3652062B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017115601.1A DE102017115601A1 (de) 2017-07-12 2017-07-12 Unterwasserkörper zum Erhöhen eines Auftriebs nach Einbringen in ein Gewässer
PCT/EP2018/068489 WO2019011831A1 (fr) 2017-07-12 2018-07-09 Corps sous-marin à volume modulable et procédé permettant de faire fonctionner un tel corps sous-marin

Publications (2)

Publication Number Publication Date
EP3652062A1 true EP3652062A1 (fr) 2020-05-20
EP3652062B1 EP3652062B1 (fr) 2022-09-14

Family

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EP18739512.4A Active EP3652062B1 (fr) 2017-07-12 2018-07-09 Corps sous-marin à volume modulable et procédé permettant de faire fonctionner un tel corps sous-marin

Country Status (4)

Country Link
US (1) US11046403B2 (fr)
EP (1) EP3652062B1 (fr)
DE (1) DE102017115601A1 (fr)
WO (1) WO2019011831A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11343944B2 (en) * 2017-12-01 2022-05-24 Raytheon Company Deep-water submersible system
SE544604C2 (en) * 2021-01-21 2022-09-20 Saab Ab Nose arrangement and method for deploying a nose arrangement of an underwater vehicle
CN114248896B (zh) * 2021-12-30 2023-05-05 哈尔滨工程大学 一种auv多级防渔网系统及方法
CN115071927B (zh) * 2022-06-29 2023-12-05 江苏科技大学 一种适用于水下回收任务的高可靠性机器人推进系统
CN115817773B (zh) * 2023-01-04 2024-09-03 北京先驱高技术开发有限责任公司 一种水下机器人用浮力均衡机构

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Publication number Priority date Publication date Assignee Title
FR653846A (fr) * 1928-05-04 1929-03-28 Dispositif de renflouement à commande interne pour submersibles
DE836603C (de) * 1949-12-15 1952-05-23 Johann Becker Klein-U-Boot
US3616775A (en) 1969-07-14 1971-11-02 Upjohn Co Emergency buoyancy generating apparatus
US4271552A (en) 1979-07-06 1981-06-09 Presearch Incorporated Torpedo floatation device
KR100281717B1 (ko) * 1998-11-13 2001-03-02 김종수 수중장비의 부력조절장치
US6254445B1 (en) 2000-06-12 2001-07-03 The United States Of America As Represented By The Secretary Of The Navy Inflatable chemical foam injected buoy
FR2830837A1 (fr) * 2001-10-15 2003-04-18 Alain Fernand Eugene Navelier Ballons gonflables pour assurer la remontee en conservant son lest(guidrope) d'un engin sous marin filoguide servant a la destruction des mines de fond
DE10206273A1 (de) * 2002-02-15 2003-08-28 Ulf-Peter Pestel Auftriebskörper für Tauch- und Wassersport-Geräte
US6923105B1 (en) * 2003-10-06 2005-08-02 The United States Of America As Represented By The Secretary Of The Navy Gun-armed countermeasure
US7250568B1 (en) 2006-06-30 2007-07-31 The United States Of America As Represented By The Secretary Of The Navy Underwater vehicle deceleration and positive buoyancy assembly
US8448592B2 (en) * 2007-10-30 2013-05-28 Ocean Server Technology, Inc. External rescue and recovery devices and methods for underwater vehicles
FR2943615A1 (fr) * 2009-03-24 2010-10-01 Eric Jean Flotteur presentant un volume ajustable

Also Published As

Publication number Publication date
EP3652062B1 (fr) 2022-09-14
US11046403B2 (en) 2021-06-29
US20200189705A1 (en) 2020-06-18
WO2019011831A1 (fr) 2019-01-17
DE102017115601A1 (de) 2019-01-17

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