EP3732095B1 - Submarine device - Google Patents

Description

The field of the invention is that of underwater vehicles, that is to say that of vehicles capable of being totally submerged.

It relates in particular to unmanned underwater vehicles also called UUV with reference to the Anglo-Saxon expression “Unmanned Underwater Vehicle”.

These vehicles can be equipped with Synthetic Antenna Sonar (SAS) to explore the seabed. These sonars are used in particular in the field of mine warfare to detect, identify and possibly locate objects placed on the seabed.

• soit à partir d'un poisson (véhicule sous-marin dépourvu de propulseur) muni d'un sonar et tracté au moyen d'un câble électro-tracteur, par un bâtiment de surface, tel qu'un navire de surface ; le sonar est alimenté électriquement par le bâtiment de surface via le câble électro-tracteur et les données sont transmises en surface par le câble électro-tracteur pour permettre le traitement en temps réel à bord du bâtiment de surface et/ou transmission par voie radio vers un centre de traitement terrestre,
• soit à partir d'un véhicule sous-marin doté d'un propulseur, utilisé en tant que véhicule non autonome encore appelé ROV acronyme de l'expression anglo-saxonne « Remote Operated Vehicle ». Ce véhicule est relié à un bâtiment de surface par un câble. Le bâtiment de surface alimente électriquement le propulseur du véhicule sous-marin et le sonar via le câble qui transmet les données sonar en surface par le câble pour permettre le traitement en temps réel à bord du bâtiment de surface et/ou transmission par voie radio vers un centre de traitement terrestre. Ce véhicule fonctionne le plus souvent à vitesse lente car le câble exerce une force de traction sur le véhicule sous-marin même si le câble n'est pas tendu,
• soit à bord d'un drone sous-marin doté d'un propulseur alimenté par des batteries embarquées à bord du véhicule, navigant de façon autonome et enregistrant les données à son bord, les données n'étant transmises à un équipement extérieur au véhicule qu'en fin de mission.

Currently, underwater acoustic imaging is performed:

• either from a fish (underwater vehicle without a propellant) fitted with a sonar and towed by means of an electro-traction cable, by a surface vessel, such as a surface vessel; the sonar is electrically powered by the surface vessel via the electro-tractor cable and the data is transmitted to the surface via the electro-tractor cable to allow real-time processing on board the surface vessel and / or transmission by radio to a land-based processing center,
• or from an underwater vehicle equipped with a thruster, used as a non-autonomous vehicle also called ROV acronym of the Anglo-Saxon expression “Remote Operated Vehicle”. This vehicle is connected to a surface building by a cable. The surface vessel electrically supplies the underwater vehicle's thruster and sonar via the cable which transmits the sonar data to the surface through the cable to allow real-time processing on board the surface vessel and / or radio transmission to a land-based processing center. This vehicle usually operates at slow speed because the cable exerts a tensile force on the underwater vehicle even if the cable is not stretched,
• either on board an underwater drone equipped with a thruster powered by batteries on board the vehicle, navigating autonomously and recording data on board, the data being transmitted to equipment external to the vehicle only 'at the end of the mission.

Good vehicle stability is required to accurately detect, identify and locate objects placed on the seabed.

The documents US 2010/242823 , FR 2 304 511 , US 3,137,264 Where US 3,688,730 disclose underwater vehicles connected to a surface vessel by a cable attached to a connecting element of the underwater vehicle.

Underwater vehicles are conventionally connected to the surface vessel by a cable attached to a longitudinal end of the underwater vehicle. The tensile force exerted by the cable on the underwater vehicle is exerted at the point of attachment of the cable, that is to say at the level of the longitudinal end of the underwater vehicle. Thus, as soon as the surface vessel pulls the underwater vehicle, this destabilizes the underwater vehicle, the attitude of which, in particular the attitude, varies. It is necessary to provide means, for example control surfaces and / or a thruster, making it possible to stabilize the underwater vehicle, for example to allow it to remain at a determined depth and to allow it to keep a stable attitude when is towed by the surface vessel. The power dimensioning of these stabilization means must be all the more important as the weight of the underwater vehicle is important.

A solution making it possible to limit the problems of instability of the underwater vehicle is described in the American patent. US 7,775,174 . It consists in providing a coordinated control of the surface vessel and of the underwater vehicle in order to decouple the movements of one and the other as much as possible.

An aim of the invention is to provide a simplified solution.

To this end, the invention relates to an underwater vehicle comprising an underwater vehicle, the underwater vehicle comprising a body of the underwater vehicle, the underwater vehicle comprising a connecting element connected to the body of the underwater vehicle and being able to cooperate with a cable to take up a tensile force (F) exerted by the cable on the underwater vehicle, the connecting element being connected to the body of the vehicle and being configured so that the axis of the traction force (F) is movable relative to the body of the vehicle and capable of presenting different orthogonal projections in a plane P fixed with respect to the body passes through the center of inertia (G) of the vehicle under -marine, the connecting element is connected to the body of the underwater vehicle by a connection to at least a degree of freedom in rotation about an axis of rotation (y; yo) so that the tensile force (F) exerted by the cable on the underwater vehicle is able to pivot about the axis of rotation (y; yo), the projection of the axis of the tensile force (F) on the plane (P) being radial to the axis of rotation (y; yo), the connecting element being configured and connected to the body so that when the cable cooperates with the connecting element, the projection of the axis of the tensile force (F) on the plane (P) passing through the center of inertia (G) of the vehicle under -marine regardless of the orientation of the tensile force (F) around the axis (y; yo) in an angular working sector of predetermined non-zero opening.

Advantageously, the connecting element is connected to the body of the underwater vehicle by a connection with at least one degree of freedom in rotation about an axis of rotation so that the tensile force exerted by the cable on the vehicle submarine is able to pivot about the axis of rotation, the projection of the axis of the tensile force on the plane P being radial to the axis of rotation.

Advantageously, the connecting element is configured and connected to the body so that when the cable cooperates with the connecting element, the projection of the axis of the tensile force on the plane passing through the center of inertia of the underwater vehicle regardless of the orientation of the tensile force around the axis in an angular working sector of predetermined non-zero opening.

• le centre d'inertie du véhicule sous-marin et le centre de carène du véhicule sous-marin sont situés dans le plan P,
• un axe principal de déplacement du véhicule est parallèle au plan P et perpendiculaire à une droite passant par le centre de carène et le centre d'inertie du véhicule sous-marin,
• le corps du véhicule sous-marin s'étend longitudinalement selon l'axe principal de déplacement,
• l'axe de rotation est fixe par rapport au corps du véhicule sous-marin,
• l'élément de liaison est relié au corps du véhicule sous-marin par une liaison à un seul degré de liberté,
• l'axe de rotation est susceptible d'être déplacé par rapport au corps du véhicule sous-marin,
• l'engin sous-marin comprend des moyens de blocage permettant d'immobiliser l'axe de rotation par rapport au corps du véhicule sous-marin dans une position dans laquelle l'axe de rotation passe par le centre d'inertie,
• la liaison comprend une liaison glissière reliant la liaison à au moins un degré de liberté en rotation au corps, la liaison glissière étant sensiblement perpendiculaire à l'axe de rotation,
• la direction de la liaison glissière est parallèle à l'axe principal de déplacement du véhicule sous-marin,
• l'axe de rotation est distant du centre d'inertie du véhicule sous-marin et l'axe de rotation est mobile par rapport au corps du véhicule sous-marin, l'engin sous-marin comprenant des moyens de réglage configurés pour régler la position de l'axe de rotation de sorte à partir d'une orientation d'une projection orthogonale de l'axe de l'effort de traction de sorte à faire passer la projection orthogonale de l'effort de traction par le centre d'inertie du véhicule sous-marin quelle que soit son orientation dans un secteur angulaire prédéterminé d'angle d'ouverture non nul,
• les moyens de réglage comprennent un actionneur permettant de déplacer l'axe de rotation par rapport au corps du véhicule sous-marin et un organe de commande apte à commander l'actionneur,
• la liaison à au moins un degré de liberté en rotation autour de l'axe de rotation est une liaison pivot,
• la liaison à au moins un degré de liberté en rotation autour de l'axe de rotation est une liaison rotule à doigt à deux axes dont l'axe de rotation et un autre axe de rotation du plan P,
• l'effort de traction présente un débattement angulaire plus important autour de l'axe de rotation qu'autour de l'autre axe de rotation,
• les différentes projections orthogonales de l'axe de l'effort de traction dans le plan P sont obtenues par un mouvement de l'élément de liaison par rapport au corps du véhicule sous-marin sans déformation de l'élément de liaison,
• le véhicule sous-marin comprend un propulseur,
• le propulseur est un propulseur vectoriel.
• le véhicule sous-marin comprend des moyens de réglage d'attitude permettant de régler au moins un angle d'attitude du véhicule sous-marin,
• le véhicule sous-marin comprend un accumulateur d'énergie électrique.

Advantageously, the underwater vehicle comprises at least one of the following characteristics taken alone or in combination:

• the center of inertia of the underwater vehicle and the center of the underwater vehicle's hull are located in the P plane,
• a main axis of movement of the vehicle is parallel to the plane P and perpendicular to a straight line passing through the center of the hull and the center of inertia of the underwater vehicle,
• the body of the underwater vehicle extends longitudinally along the main axis of movement,
• the axis of rotation is fixed relative to the body of the underwater vehicle,
• the connecting element is connected to the body of the underwater vehicle by a connection with a single degree of freedom,
• the axis of rotation is capable of being moved relative to the body of the underwater vehicle,
• the underwater vehicle comprises locking means making it possible to immobilize the axis of rotation relative to the body of the underwater vehicle in a position in which the axis of rotation passes through the center of inertia,
• the link comprises a slide link connecting the link with at least one degree of freedom in rotation to the body, the slide link being substantially perpendicular to the axis of rotation,
• the direction of the slide connection is parallel to the main axis of movement of the underwater vehicle,
• the axis of rotation is remote from the center of inertia of the underwater vehicle and the axis of rotation is movable relative to the body of the underwater vehicle, the underwater vehicle comprising adjustment means configured to adjust the position of the axis of rotation so from an orientation of an orthogonal projection of the axis of the tensile force so as to pass the orthogonal projection of the tensile force through the center of inertia of the underwater vehicle regardless of its orientation in a predetermined angular sector with a non-zero opening angle,
• the adjustment means comprise an actuator making it possible to move the axis of rotation relative to the body of the underwater vehicle and a control member capable of controlling the actuator,
• the connection with at least one degree of freedom in rotation around the axis of rotation is a pivot connection,
• the connection with at least one degree of freedom in rotation around the axis of rotation is a ball joint with two axes whose axis of rotation and another axis of rotation of the plane P,
• the tensile force has a greater angular displacement around the axis of rotation than around the other axis of rotation,
• the various orthogonal projections of the axis of the tensile force in the plane P are obtained by a movement of the connecting element relative to the body of the underwater vehicle without deformation of the connecting element,
• the underwater vehicle includes a thruster,
• the thruster is a vector thruster.
• the underwater vehicle comprises attitude adjustment means making it possible to adjust at least one angle of attitude of the underwater vehicle,
• the underwater vehicle includes an electric energy accumulator.

• la figure 1a représente un véhicule sous-marin relié mécaniquement à un véhicule de surface et la figure 1b représente un véhicule sous-marin autonome,
• la figure 2 représente schématiquement un premier exemple du premier mode de réalisation de l'invention,
• la figure 3 représente schématiquement un deuxième exemple d'un premier mode de réalisation de l'invention,
• la figure 4 représente schématiquement un premier exemple d'un deuxième mode de réalisation de l'invention,
• la figure 5 représente schématiquement un deuxième exemple du deuxième mode de réalisation de l'invention,
• la figure 6 représente schématiquement des moyens de réglage de la position de l'axe de rotation du deuxième mode de réalisation de l'invention.

The invention will be better understood by studying a few embodiments described by way of non-limiting examples, and illustrated by the appended drawings in which:

• the figure 1a represents an underwater vehicle mechanically connected to a surface vehicle and the figure 1b represents an autonomous underwater vehicle,
• the figure 2 schematically represents a first example of the first embodiment of the invention,
• the figure 3 schematically represents a second example of a first embodiment of the invention,
• the figure 4 schematically represents a first example of a second embodiment of the invention,
• the figure 5 schematically shows a second example of the second embodiment of the invention,
• the figure 6 schematically shows means for adjusting the position of the axis of rotation of the second embodiment of the invention.

From one figure to another, the same elements are designated by the same references.

The figure 1a shows an underwater vehicle 1 comprising a body 10 and a thruster 2. The thruster 2 is mounted on the body 10 of the underwater vehicle 1. The thruster 2 is able to propel the underwater vehicle 1.

The underwater vehicle 1 is able to be mechanically connected to a surface vessel 100 as shown in the figure. figure 1a , the two vehicles being mechanically connected to each other by a cable 3.

The surface vessel 100 is, for example, a surface vehicle, that is to say a vessel navigating on the surface or an underwater vehicle navigating at a shallower depth than the underwater vehicle 1.

The underwater vehicle 1 can be used as an ROV, that is to say mechanically connected to a surface vessel 100 by means of the cable 3 without being towed by the surface vessel 100, the underwater vehicle 1 totally submerged ensuring its own propulsion by being propelled by its thruster 2. The relative speed of the underwater vehicle 1 and the surface vessel 100 is, for example, adjusted so that the surface vessel 100 and the underwater vehicle sailor 1 move at the same speed, one of the vehicles being in front of the other without the cable 3 being stretched between the two vehicles 1 and 100. The thruster 2 of the ROV is supplied with electrical energy via the electro-tractor cable 3 , either directly or via an electric energy accumulator of the underwater vehicle.

In a variant, the cable 3 is stretched between the two vehicles. This is, for example, the case when the underwater vehicle 1 tows the surface vessel 100 or vice versa.

As a variant, the vehicle 1 can be detached from the surface building 100 and move independently in the water as shown in the figure. figure 1b . The underwater vehicle 1 is then propelled by its own thruster 2 powered by an electric energy accumulator ACC, 300 of the underwater vehicle 1 shown in figure 2 .

The invention relates to an underwater vehicle E, shown schematically on figure 2 , comprising the underwater vehicle 1 shown in the preceding figures provided with a connecting element 4, able to cooperate with the cable 3 so as to allow the underwater vehicle 1 to be mechanically connected to a surface vessel 100, when the cable 3 is mechanically connected to the surface building 100. The cable 3 is then fixed to the connecting element 4.

When the cable 3 mechanically connects the underwater vehicle 1 to the surface vessel 100, it is able to exert, on the underwater vehicle 1, a tensile force F, shown in the figure. figure 2 . This tensile force F is directed along an axis I which is the longitudinal axis of the cable 3 in the vicinity of the connecting element 4. The connecting element 4 takes up the tensile force F exerted by the body 10 on the underwater vehicle 1.

According to the invention, as shown in figure 2 , the connecting element 4 is connected to the body 10 of the underwater vehicle 1 by a connection 5 allowing movement of the connecting element 4 relative to the body 10 of the underwater vehicle 1. Thus, the control element link 4 is movable relative to the body 10 of the underwater vehicle 1 so that the tensile force F exerted by the cable 3 on the vehicle 1 is movable relative to the body 10.

According to the invention, the connecting element 4 is connected to the body 10 of the vehicle 1 and is configured so that the axis of the tensile force F exerted by the cable 3 on the vehicle is capable of presenting orthogonal projections. different in the plane P fixed with respect to the body 10 passing through the center of inertia G of the underwater vehicle 1. In other words, there is a plurality of orthogonal projections different from the axis of the tensile force F in the plane P. These projections pass through the center of inertia G of the underwater vehicle 1. These various orthogonal projections passing through the plane P are obtained by a movement of the connecting element 4 relative to the body 10 of the underwater vehicle. sailor and thanks to the configuration of the connecting element. In other words, these different orthogonal projections are obtained for different positions of the connecting element 4 with respect to the body 10.

The axis of the tensile force F is the axis of the tensile force taken up by the connecting element 4 and exerted by the connecting element 4 on the vehicle 1.

In the embodiments of the figures, the connecting element 4 does not deform between these different positions. In other words, the connecting element 4 does not deform between the different orthogonal projections of the axis of the tensile force F. The connecting element 4 passes from one position to another while moving relative to to the body 10, that is to say by a translation and / or a rotation of the connecting element relative to the body 10. In other words, the different axes of the tensile force giving the different orthogonal projections in the plane P are obtained by a movement of the connecting element 4 relative to the body 10 of the underwater vehicle 1 without deformation of the connecting element 4.

In the non-limiting embodiment of the figures, the plane P is the vertical plane passing through the center of inertia G. The z axis is a vertical axis.

The longitudinal axis I of the cable 3 in the vicinity of its attachment point with the connecting element 4 is located on the portion of the cable 3 between this attachment point and the surface building 100, in the vicinity of the connection element 4.

For different positions of the connecting element 4 relative to the body 10, the projections, on the plane P, of the longitudinal axis I of the cable 3 in the vicinity of the fixing point of the cable 3 on the connecting element pass through the center of inertia G of the underwater vehicle 1. For these different positions, the axis of the traction force F passes through the center of inertia G when the traction force F, is located in the plane P Consequently, when the tensile force F is in the plane P and the connecting element 4 in these different positions, the point of application of the tensile force F on the underwater vehicle 1 is substantially the same. center of inertia G of the underwater vehicle 1. The connecting element 4 ensures that the forces of the cable 3 are taken up on the center of inertia G of the underwater vehicle 1 when the tensile force F is in the P plane and the connecting element is in these positions. This configuration allows the underwater vehicle 1 to minimize, or even cancel, the destabilization of the underwater vehicle 1 when, the vehicle being used as an ROV, the traction force F is in the plane P for these different positions of element 4, for example when the underwater vehicle 1 and the surface vessel are in this same plane P in the absence of current.

The orientations of the underwater vehicle 1 and of its speed vector are not modified by a modification of the orientation of the cable, in the vicinity of the connecting element, in this plane P. This configuration makes it possible to avoid having providing sophisticated or powerful means or methods for controlling the two vehicles in a coordinated fashion or oversized stabilization devices (control surfaces, thrusters) in order to ensure stabilization of the underwater vehicle. This solution allows the underwater vehicle 1 on its own to ensure its stability in the plane P, independently of the surface vessel 100.

The underwater vehicle 1 consumes little energy to stabilize in the plane P this stabilization does not require to compensate the lever arm between the point of application of the tensile force F of the cable 3 and the center of inertia G of the vehicle. This configuration allows this vehicle to be used both as a towed fish and ROV and, if it has the required batteries, as a UUV. This makes it possible to acquire high-quality sonar images at high speed.

Furthermore, the position of the center of gravity, unlike the center of thrust and the center of pressure, does not change as a function of the speed and the forces involved. Thus, the torques generated by gravity and Archimedes' thrust are fixed. The stabilization device, for example the vector thruster does not have (or little) to compensate for variations in torque due to a variation in speed.

The proposed configuration goes against the tendency of those skilled in the art which is, when an underwater vehicle 1 is intended to be towed by a surface vessel 100, to provide a point of application of the traction force F distant from the center of inertia G of the vehicle so that the attitude and the trajectory of this vehicle are imposed by the trajectory of the surface building 100 and by its speed.

Advantageously but not necessarily, the center of inertia G of the underwater vehicle 1 and its center of the hull are located in the plane P. The submerged underwater vehicle 1 is subjected only to hydrodynamic forces and to gravity, the vehicle comes in an equilibrium configuration in which the axis which connects the center of the bottom of the underwater vehicle 1 and the center of gravity of the underwater vehicle is vertical, the plane P is then a vertical plane. The proposed solution then makes it possible to avoid destabilization of the underwater vehicle 1 in the P plane by a change of relative speed between the underwater vehicle 1 and the surface vessel 100 in the P plane.

Advantageously, the underwater vehicle 1 is intended to move mainly along an axis, called the main axis of movement x in the patent application, integral with the body 10 of the underwater vehicle 1. This main axis of movement x is advantageously parallel. in the P plane or included in the P plane and perpendicular to the line passing through the center of the hull and the center of inertia G of the underwater vehicle 1. This solution is particularly suitable for sonar imaging of the seabed which involves long journeys of the vehicle along its main axis of movement, in the same plane P as the surface vessel (in the absence of current), the surface vessel being at an altitude greater than that of the underwater vehicle in relation to the bottom marine. The vehicle is then destabilized only during heading changes.

In the examples shown on the figures 2 to 5 , the underwater vehicle 1 extends longitudinally along the main axis of movement x. In other words, the body 10 of the underwater vehicle 1 extends longitudinally along this axis. A change in direction of the traction force F in the vertical plane then has no impact on the longitudinal attitude of the underwater vehicle 1. This configuration allows the underwater vehicle 1 to control its longitudinal attitude during of a mission in which the underwater vehicle is used as an ROV or towed fish. This configuration makes it possible to facilitate the maintenance of the underwater vehicle at a predetermined depth or at a predetermined altitude with respect to a seabed even in the event of a change in depth or speed of the surface vehicle.

Advantageously, the connecting element 4 is connected to the body 10 of the underwater vehicle 1 by a connection 5 with at least one degree of freedom in rotation about an axis of rotation y so that the tensile force F exerted by the cable 3 on the underwater vehicle 1 is able to pivot about the axis of rotation y, the projection of the axis of the tensile force F on the plane P being radial to the axis of rotation y . Therefore, when the plane P is vertical at equilibrium, the axis of rotation y is substantially horizontal as shown in the figures.

Advantageously, the connecting element 4 is configured and connected to the body 10 so that when the cable 3 cooperates with the connecting element 4 itself connected to the body 10, the projection of the axis of the tensile force F on the plane P passes through the center of inertia G of the vehicle whatever the orientation of the traction force F around the axis y in an angular working sector defining a non-zero angle, it is at say non-zero opening. In this angular working sector, the cable does not come to rest on the body 10 of the underwater vehicle 1.

Advantageously, the axis of rotation is connected there to the body 10 so as to obtain this effect.

In a first embodiment, examples of which are shown in the figures 2 and 3 , the axis of rotation y is capable of passing through the center of inertia G. It may be capable of occupying a single position relative to the body 10 of the underwater vehicle 1 or more. In the latter case, the machine can comprise, but this is not compulsory, drive means making it possible to move this axis of rotation y relative to the body 10.

In the examples shown on the figures 2 to 3 , the connecting element 4 is connected to the body 10 of the underwater vehicle 1 by a connection 5 or 65 comprising a pivot connection of axis of rotation y so that when the connecting element 4 pivots about the axis of rotation y relative to the body 10, the tensile force F pivots about the axis of rotation y relative to the body 10.

In the example of figure 2 , the connecting element 4 is connected to the body 10 of the underwater vehicle 1 by a connection with a degree of freedom. In other words, the link 5 comprises only the pivot link of axis y. The axis of rotation y is fixed relative to the body 10 of the underwater vehicle 1. It passes through the center of inertia G. The axis of the tensile force F is then radial to the axis of rotation y when the cable 3 is in a plane P perpendicular to the axis of rotation y in the vicinity of the connecting element 4.

For this purpose, the connecting element 4 comprises a fork 14 comprising two branches 14a and 14b mounted in a pivot connection on an arm 15 which is fixed relative to the body of the vehicle and whose longitudinal axis is the y axis. The fork 14 includes a handle 14c. The two branches extend to a handle 14c extending longitudinally radially with respect to to the y axis. The handle is intended to cooperate with the cable 3 so that the cable 3 passes through the longitudinal axis of the handle 14c.

The arm 15 passes through the body of the vehicle perpendicular to the x axis and the two branches 14a, 14b each extend opposite one of the sides of the underwater vehicle.

Advantageously, the connecting element 4 is configured and connected to the body 10 of the underwater vehicle 1 so that the tensile force F is located substantially in the plane P when the cable 3 is in a plane perpendicular to the axis of rotation y in the vicinity of the connecting element 4. In other words, on the figure 2 , the handle 14c extends longitudinally in the plane P.

Thus, if the underwater vehicle 1 and the surface vessel 100 navigate in the same vertical plane, the axis of the traction force F passes permanently through the center of inertia G. If the traction force F leaves this plane, that is to say if the axis I of the cable 3 tilts with respect to this plane P, then the cable 3 generates a rolling torque on the vehicle.

As a variant, the handle 14c extends in a plane parallel to the plane P and distant from the plane P or in a plane not coincident with the plane P. However, this generates a torque in roll and / or in yaw on the vehicle under- marine, it is therefore necessary to counter these torques so that the underwater vehicle maintains its stability

As a variant, the connecting element is connected to the body of the vehicle by a connection with more than 1 degree of freedom in rotation. For example, the axis of rotation y is able to pivot, relative to the body of the underwater vehicle, about the axis x. This makes it possible to limit the roll torque when changing the heading of one of the two vehicles.

The example of figure 3 differs from that of the figure 2 in that the axis of rotation y is capable of being moved relative to the body 10 of the underwater vehicle 1a of the underwater vehicle E1.

The underwater vehicle E1 comprises locking means comprising for example stops B, making it possible to immobilize the axis of rotation y relative to the body 10 of the underwater vehicle 1a in a position visible on the figure 3 , in which the axis of rotation y passes through the center of inertia G. In this position the axis of rotation y is perpendicular to the plane P. The stops B are movable so as to be able to fix the axis of rotation y by relative to the body 10 in several positions relative to the body 10. This configuration makes it possible to adjust the position of the axis of rotation y as a function of the position of the center of inertia G and therefore to be able to obtain the desired stabilization effect for various configurations of the underwater vehicle in which the position of the center of inertia of the underwater vehicle varies. For example, it is possible to modify the position or the number of underwater equipment items of the underwater vehicle with an impact on the position of its center of inertia.

In the non-limiting example of figure 3 , the link 65 making it possible to connect the link element 4 to the body 10 comprises the pivot link 5 and a slide link 66 of axis x connecting the pivot link 5 to the body 10. This configuration makes it possible to adapt to variations in the position of the center of gravity G in the direction of the slide connection. To this end, the vehicle 1a comprises, for example, guides GG making it possible to guide the axis of rotation y in the direction of the slideway. Only one guide is visible on the figure 3 , the other being located on the other side of the vehicle.

In the particular example of figure 3 , the direction of the slide connection is that of the main axis x of movement of the vehicle which is also that of the longitudinal axis x of the vehicle, the direction in which the position of the center of inertia will mainly vary when modifying the number of equipment in the vehicle.

As a variant, the axis of rotation y is connected to the body 10 of the underwater vehicle 1a by a connection with more than one degree of freedom in translation, which makes it possible to obtain greater positioning precision of the axis y. in the event of changes in the position of the center of gravity in a direction other than the direction of the x axis.

As a variant, the connecting element is connected to the body of the vehicle by a connection with more than 1 degree of freedom in rotation. For example, the axis of rotation y is able to pivot, relative to the body of the underwater vehicle, about the axis x.

As an alternative to the stops, the underwater vehicle can include an actuator making it possible to drive the y axis in translation along the x axis along the guides GG. This actuator may include a brake making it possible to block the translation of the axis of rotation y along the axis x.

The locking means may or may not be included in the underwater vehicle.

On the figures 4 and 5 , there is shown a second embodiment of the invention. This embodiment differs from that of figures 2 and 3 in that the axis of rotation, reference yo on the figures 4 and 5 , is distant from the center of gravity G of the vehicle. Consequently, the axis of rotation yo is movable relative to the body 10 of the underwater vehicle 1b or 1c.

As visible on the figure 6 , the underwater vehicle Eb or Ec comprises adjustment means 50 configured to adjust the position of the axis of rotation yo as a function of an orientation O of the projection of the axis of the tensile force F on the plane P so as to move this projection so that it passes through the center of inertia G of the underwater vehicle whatever the direction of the orthogonal projection of the tensile force in the plane P in a predetermined angular sector .

The underwater vehicle may include a sensor 51 making it possible to measure the orientation of the orthogonal projection of the traction force. This measurement can be carried out directly by an angle sensor on the connecting element for example or on the cable or indirectly, for example, by a strain gauge.

The adjustment means 50 comprise, for example, as shown in figure 6 , an actuator A making it possible to move the axis of rotation yo relative to the body 10 of the underwater vehicle 1b or 1c and control means C able to control the actuator A and configured to control the actuator as a function of an orientation O of an orthogonal projection of the axis of the tensile force on the plane P. The orientation O can be the angle α formed between the tensile force F and the axis x in the plane P The control means are configured to control the actuator so as to move the yo axis to move the orthogonal projection of the axis of the tensile force on the plane P so that it passes through the center of gravity G.

As a variant, the adjustment means comprise passive means comprising for example a calibrated spring to ensure the desired positioning of the connecting element as a function of the orientation.

The example of figure 4 differs from that of the figure 3 in that the axis of rotation yo of the connection with at least one degree of freedom in rotation is distant from the center of inertia G. The connection 70 connecting the connecting element 4b to the body 10 of the vehicle 1b comprises a pivot connection 71 of axis yo and a sliding link 72 of axis xo parallel to the axis x, connecting the axis yo to the body of the vehicle. The xo axis advantageously belongs to the plane P The connecting element 4b has the same fork shape as the connecting element 4 with two branches 14a 'and 14b' connected to a handle 14c 'a handle 14c' extending longitudinally radially with respect to the yo axis. The handle is intended to cooperate with the cable 3 so that the cable 3 passes through the longitudinal axis of the handle 14c '.

The two branches 14a 'and 14b' are mounted in a pivot connection on a stud 73 around a longitudinal arm 74 of longitudinal axis yo. The fork includes a handle 14c '.

The vehicle 1b comprises a guide GU making it possible to guide the stud 73 in translation along an axis xo parallel to the axis x.

Advantageously, as on the figure 3 , the longitudinal axis of the handle 14c 'belongs to the plane P.

The example of figure 5 differs from that of the figure 4 , in that the connecting element 4c is connected to the body of the underwater vehicle by a connection 80 comprising a ball joint with finger 81 with two axes of rotation of which the axis of rotation yo and another axis parallel to the x axis. This is to prevent the vehicle from pitching during heading changes. The ball joint with finger is connected to the body of the underwater vehicle by a slide connection 72 like the pivot connection of the embodiment of the figure 4 . The connecting element 4c comprises a loop 85 connected to a stud 83 by a ball joint with finger 81. The stud 83 is connected to the vehicle by the sliding link 72. The vehicle 1c comprises a guide GU making it possible to guide the stud 83 in translation along the axis of the slide link. The connecting element 4c comprises a handle 86 intended to cooperate with the cable so that the axis I is substantially the longitudinal axis of the cable.

The handle 86 extends longitudinally radially with respect to the axis yo. The handle 86 is intended to cooperate with the cable 3 so that the cable 3 passes through the longitudinal axis of the handle 86.

Advantageously, the connecting element 4c has a greater angular movement around the axis of rotation y than around the other axis of rotation of the ball joint to the finger.

Advantageously, the connecting element is configured and connected to the body of the vehicle so that the handle 86 is able to pivot on either side of the plane P.

In each of the embodiments, the link member can be removably connected to the underwater vehicle. As a variant, the connecting element is suitable for being placed in a storage position relative to the body of the underwater vehicle in which it is placed inside the volume delimited by the body of the underwater vehicle.

The cable can be removably attached to the connecting element or be permanently fixed to the connecting element.

The underwater vehicle advantageously comprises attitude adjustment means making it possible to vary at least one attitude angle of the underwater vehicle. In one example, the adjustment means make it possible to adjust the attitude of the underwater vehicle. These means allow the vehicle to adjust this attitude angle itself.

These means comprise for example means for varying at least one angle of attitude of the vehicle, for example its attitude, and means for controlling the means for varying the angle of attitude so as to adjust this angle of attitude. . This is for example the control unit.

The thruster 2 is for example a vector thruster. In other words, the thruster 2 is a vector thruster capable of generating a vector thrust, that is to say a thrust which can be oriented with respect to the body 10 of the underwater vehicle 11. This thruster is an omnidirectional vector thruster. It is able to generate an orientable thrust on 4π steradians. An example of such a thruster is a thruster comprising two contra-rotating propellers each comprising blades 17, the collective and cyclical incidence of which around a neutral position is variable. The thruster 2 therefore makes it possible to adjust the three attitude angles of the underwater vehicle. As a variant, the means for varying at least one attitude angle of the vehicle comprise control surfaces.

The vehicle comprises at least one energy accumulator making it possible to accumulate electrical energy and to supply electrical equipment of the vehicle, for example the thruster, at least one sensor of the thruster, for example a sonar antenna, the adjustment means at least one attitude, any means for adjusting the position of the axis of rotation, etc. The underwater vehicle 1 can then be used as a towed fish, ROV and AUV.

Advantageously, the connecting element 4 is provided with an electrical interface electrically connecting the cable 3 and the underwater vehicle when the cable 3 cooperates with the connecting element 4 so as to allow transmission of electrical energy from the cable. to the underwater vehicle 1, for example to supply the electrical equipment directly or via at least one electrical energy accumulator.

Advantageously, the link element 4 is provided with a data interface allowing data transmission from the cable 3 to the underwater vehicle 1, for example to a sonar antenna or a sonar data storage memory, and / or vice versa, when the cable 3 cooperates with the connecting element 4.

For greater clarity, only the figures 2 and 3 , a global interface making it possible to provide both types of interface. This overall interface comprises an interface cable connected to the connecting element 4 and to the vehicle.

The possibility of using the underwater vehicle as a towed fish, ROV and possibly UUV makes it possible to obtain the advantages of the different uses with the same vehicle.

The towed fish equipped with an SAS requires the use of a surface vessel powerful enough to tow the fish and to launch and retrieve it (it must therefore be equipped with a launching system. water and towed fish recovery), whereby the speed of the fish can be relatively fast (in the order of 10 knots) and the hourly imagery coverage is relatively high. Technically, the high speed requires having a long SAS antenna (of the order of 2m) well suited to fast speeds. The cable allows real-time SAS data to be fed back to the surface and also allows power to be supplied to the ROV.

The use of ROVs is generally linked to a low speed imposed by the joint navigation of the craft and the surface vessel. As the ROV is operated from the ship, the use of this solution often requires surface vessels to accommodate the ROV on board and deploy and retrieve it on demand. The ROV being under motorized compared to the surface vessel, the operating speed is slow (a few knots) and the SAS antenna by nature rather short (of the order of 1m).

The UUV equipped with an SAS has a limited energy reserve which requires it to navigate slowly to optimize the duration of the mission. The area covered by the imagery is generally all the more limited the higher the speed of the AUV, since propulsion then becomes the dominant factor in battery consumption. Furthermore, this solution requires data processing at the end of the mission because they are only available when the UUV rises to the surface. However, this solution makes it possible to carry out a mission in complete autonomy and therefore without being spotted and at significant depths.

The invention makes it possible to equip the underwater vehicle with the ability to operate at high speed as an ROV without destabilizing the vehicle and to allow the analysis of its data in real time while maintaining its deep intervention capacity. .

The underwater vehicle advantageously comprises at least one ANT sensor, shown only on the figure 5 for greater clarity, intended to acquire data on an environment of the vehicle such as for example at least one sonar antenna and / or at least one image sensor. The vehicle is advantageously equipped with a synthetic antenna sonar comprising an antenna for transmitting acoustic waves and at least one linear antenna for receiving acoustic waves. The transmitting antenna can be the receiving antenna or a separate antenna. Advantageously, the SAS comprises two antennas for receiving acoustic waves arranged on either side of the P plane.

The invention makes it possible to prevent the drag of the cable from exerting an excessive return torque on the underwater vehicle at the level of the connecting element and from generating navigation instabilities, which is beneficial for the quality of the vehicles. acoustic images obtained by means of an SAS. The vehicle can thus be used at high speed and therefore makes it possible to obtain a significant hourly coverage (size of the area imaged per unit of time) while providing a sufficiently long reception antenna.

Each control unit or means may include one or more dedicated electronic circuits or a general purpose circuit. Each electronic circuit can comprise a reprogrammable computing machine (a processor or a microcontroller for example) and / or a computer executing a program comprising a sequence of instructions and / or a dedicated computing machine (for example a set of logic gates such as an FPGA, a DSP or an ASIC, or any other hardware module).

In the field of underwater applications, the gravitational constant is assumed to be fixed. The center of inertia of the vehicle is substantially its center of gravity.

Advantageously, the main axis of rotation is substantially perpendicular to the axis of rotation y or yo.

Claims (17)

1. An underwater machine (E) comprising an underwater vehicle (1), the underwater vehicle (1) comprising a body (10) of the underwater vehicle (1), the underwater machine (E) comprising a linking element (4) that is connected to the body (10) of the underwater vehicle (1) and is able to cooperate with a cable to take up a pulling force (F) exerted by the cable (3) on the underwater vehicle (1), the linking element being connected to the body of the vehicle and being configured such that the axis of the pulling force (F) is movable with respect to the body (10) of the vehicle and able to exhibit different orthogonal projections in a fixed plane P with respect to the body (10) that passes through the center of inertia (G) of the underwater vehicle (1), the linking element (4) being connected to the body (10) of the underwater vehicle (1) by a link (5) having at least one degree of rotational freedom about an axis of rotation (y; yo) such that the pulling force (F) exerted by the cable (3) on the underwater vehicle (1) is able to pivot about the axis of rotation (y; yo), the projection of the axis of the pulling force (F) on the plane (P) being radial to the axis of rotation (y; yo), characterized in that the linking element (4) is configured and connected to the body (10) such that when the cable (3) cooperates with the linking element (4), the projection of the axis of the pulling force (F) on the plane (P) passes through the center of inertia (G) of the underwater vehicle (1), regardless of the orientation of the pulling force (F) about the axis (y; yo), in an angular work sector with a predetermined non-zero opening.
2. The underwater machine (E) according to the preceding claim, wherein the axis of rotation (y) is fixed with respect to the body (10).
3. The underwater machine (E) according to the preceding claim, wherein the linking element is connected to the body of the underwater vehicle by a link having a single degree of freedom.
4. The underwater machine (E) according to claim 1, wherein the axis of rotation (yo) is at a distance from the center of inertia (G) of the underwater vehicle (1b, 1c), and wherein the axis of rotation (yo) is movable with respect to the body (10) of the underwater vehicle, the underwater machine comprising adjusting means configured to adjust the position of the axis of rotation (yo) on the basis of an orientation of a orthogonal projection of the axis of the pulling force so as to make the orthogonal projection of the pulling force pass through the center of inertia (G) of the underwater vehicle (1b, 1c) regardless of the orientation thereof in the angular sector.
5. The underwater machine (E) according to claim 4, wherein the adjusting means comprise an actuator for moving the axis of rotation (yo) with respect to the body (10) of the underwater vehicle (1b, 1c), and a control member that is able to control the actuator.
6. The underwater machine according to any one of claims 4 to 5, wherein the link having at least one degree of rotational freedom about the axis of rotation is a pivot link.
7. The underwater machine (E) according to any one of claims 4 to 5, wherein the link having at least one degree of rotational freedom about the axis of rotation is a Cardan joint having two axes, namely the axis of rotation and another axis of rotation of the plane P.
8. The underwater machine according to the preceding claim, wherein the pulling force has a greater angular displacement about the axis of rotation than about the other axis of rotation.
9. The underwater machine (E) according to any one of the preceding claims, wherein the center of inertia (G) of the underwater vehicle (1) and the center of buoyancy of the underwater vehicle are situated in the plane P.
10. The underwater machine (E) according to any one of the preceding claims, wherein the main axis (x) of movement of the vehicle is parallel to the plane P and perpendicular to a straight line passing through the center of buoyancy and the center of inertia (G) of the underwater vehicle (1).
11. The underwater machine (E) according to any one of the preceding claims, wherein the body (10) of the underwater vehicle (1) extends longitudinally along the main axis of movement (x).
12. The underwater machine according to any one of the preceding claims, wherein the different orthogonal projections of the axis of the pulling force in the plane P are obtained by a movement of the linking element (4) with respect to the body of the underwater vehicle without deformation of the linking element.
13. The underwater machine according to any one of the preceding claims, wherein the underwater vehicle comprises a thruster.
14. The underwater machine according to any one of the preceding claims, wherein the thruster is a vectorial thruster.
15. The underwater machine (E) according to the preceding claim, wherein the underwater vehicle (1) comprises attitude adjusting means for adjusting at least one attitude angle of the underwater vehicle.
16. The underwater machine according to the preceding claim, wherein the underwater vehicle (1) comprises an electrical energy accumulator.
17. Assembly comprising the underwater machine (E) according to any one of the preceding claims and the cable (3), wherein the linking element cooperates with the cable (3) in order to take up the pulling force (T).

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