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
  • B63G8/26—Trimming equipment
• • 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
• • 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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
  • B63B2211/00—Applications
  • B63B2211/02—Oceanography
• • 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
• • 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

Definitions

• TITLE Vertical positioning device for underwater vehicle
• the present invention relates to underwater vehicles, in particular autonomous underwater vehicles, better known by the acronym AUV meaning in English Autonomous Underwater Vehicle.
• the invention relates to a system making it possible to vary a trim angle of such an AUV, in particular to place it in a vertical or close to vertical position.
• AUVs are generally designed to navigate in a nominal position called horizontal in the water. In this nominal position, the AUV has a zero or almost zero trim angle, and is in a so-called equilibrium position in the water. Its trim angle is defined by the angle between its longitudinal axis and a horizontal plane. Sailing in a nominal horizontal position reduces drag forces and minimizes energy consumption while sailing.
• a change of attitude angle to approach the vertical of the AUV may be required to carry out certain operations, including in particular the surveillance of sites using cameras fitted to the AUV, or the resetting of the navigation system thanks to the antennas of the AUV put out of the water, or quite simply for the recovery of the AUV.
• One such device consists of a propulsion system, comprising one or more thrusters, mounted on the AUV and which is actuated to change the trim angle of the AUV.
• the propulsion system has one of the following configurations: One or more vertical thrusters (for example one at the front and one at the rear of the vehicle).
• the opposing thrusts of the thrusters induce a modification of the attitude angle of the vehicle;
• - Horizontal thrusters located away from the main longitudinal axis of the vehicle.
• the thrusts of opposite thrusters induce a torque on the vehicle, which modifies the attitude angle to the vehicle;
• One or more steerable thrusters so that by modifying the orientation of the thrusters and therefore of the thrust, the trim angle of the vehicle can be modified.
• Each tundish defines a volume and is at least partially filled with fluids.
• the quantities of fluids vary in the different boxes to vary the trim angle of the AUV.
• Thrusters and trim boxes can also be simultaneously integrated into an AUV to increase trim capabilities. Disclosure of Invention
• the invention aims to provide an autonomous underwater vehicle comprising a vertical positioning device which is particularly simple and convenient, both in its manufacture and in its use.
• an autonomous underwater vehicle comprising a hull extending along a main longitudinal axis, at least one device for verticalizing the vehicle configured to modify a trim angle of the vehicle between a nominal horizontal position of the vehicle and a vertical position of the vehicle, characterized in that the device for verticalizing the vehicle comprises one or more arms mounted by a proximal end on the hull and articulated in rotation with respect to the hull, and including a float at a distal free end so that the arm is configured to take:
• the articulated arm makes it possible to separate the float from the hull of the vehicle and, due to the buoyancy of the float, this makes it possible to modify the position of the center of volume of the vehicle, also called hull or thrust center, in order to facilitate the verticalization of the vehicle. Deployment of the arm requires very little energy, which is advantageous for autonomous vehicles. In addition to being convenient, the addition of such an arm provided with a float is a compact solution since it changes only very little the architecture of the autonomous underwater vehicle.
• the autonomous underwater vehicle may comprise at least two arms, fixed to the hull on the port side and on the starboard side, arranged so as to form an angle between them included in the range [60°;180°[.
• the autonomous underwater vehicle may comprise at least one actuating member allowing the arm to pass from the folded position to the deployed position.
• the actuating member can also allow the arm to pass from the deployed position to the folded position.
• the actuating member is able to orient the arm in a determined or selected angular position with respect to the main longitudinal axis.
• the actuating member can be configured to adapt, according to the trim angle of the vehicle, the angular position of the arm in the deployed position, with respect to the main longitudinal axis.
• the autonomous underwater vehicle may include a verticality sensor, such as an accelerometer, so that the angular position of the arm is monitored and controlled according to the output signal of the verticality sensor.
• a verticality sensor such as an accelerometer
• the float can have a variable volume. This can influence the position of the center of thrust and therefore can also improve the stability of the AUV in its vertical or nearly vertical position.
• At least one of the arms can be telescopic. This makes it possible to adjust a distance between the distal end and the proximal end of the arm, so as to bring the floats closer or further away from the hull of the vehicle. It is possible to facilitate the vertical positioning of the vehicle. This distance can also be controlled and controlled thanks to a verticality sensor.
• the autonomous underwater vehicle may additionally comprise one or more adjustment boxes capable of varying the trim angle of the vehicle.
• the autonomous underwater vehicle may additionally comprise one or more thrusters capable of varying the trim angle of the vehicle.
• the combination of the arm and the tuning boxes and/or the thrusters further facilitates the vertical positioning of the autonomous underwater vehicle.
• the adjustment boxes and/or the thrusters make it possible to initiate the vertical positioning of the autonomous underwater vehicle, and when the trim angle reaches a threshold value, the arm can be deployed so as to finalize upright and ensure the stability of the vehicle, once the vehicle is upright.
• the adjustment boxes can be arranged, when the vehicle is in the nominal position, in an upper part of the hull and the arms are attached to a lower part of the vehicle hull.
• the invention relates, according to a second aspect, to a method for verticalizing a vehicle as mentioned above, comprising the actuation of the arm to put it in the deployed position, from the folded position, in particular when the trim angle of the vehicle reaches a first threshold angle.
• the method may comprise beforehand the initiation of the verticalization of the vehicle by means of tuning boxes and/or thrusters.
• the method may comprise actuating the arm to put it in the folded position from the deployed position when the trim angle of the vehicle is less than a second threshold angle.
• Figure 1 illustrates an autonomous underwater vehicle according to the invention.
• Figure 2 illustrates an autonomous underwater vehicle according to the invention whose verticalization has been initiated.
• Figures 3A and 3B illustrate a first embodiment of the invention, showing an AUV having one arm in the folded position.
• Figures 4A and 4B illustrate the first embodiment of the invention, in which the arm is in the deployed position.
• Figures 5A and 5B illustrate a second embodiment of the invention, showing an AUV having two arms in the folded position.
• FIGS 6A and 6B illustrate the second embodiment of the invention, in which the arms of the vehicle are in the deployed position.
• Figures 7, 8 and 9 illustrate a third embodiment showing an AUV having trim boxes in addition to arms.
• Fig. 10 illustrates examples of different positions of the arms of the third embodiment. detailed description
• the invention finds an application in the field of autonomous underwater vehicles, intended to be used once or several times, following their recovery in the open sea.
• the invention applies in particular to vehicles known by the term AUV, as described above.
• autonomous underwater vehicles are used to perform various operations at sea, such as for example surveillance operations.
• autonomous underwater vehicles are launched from a boat (such as for example boats of the USV type, in English Unmanned Surface Vessel) or from a submarine, or even from an aircraft, and navigate totally submerged in the water in a nominal position close to the horizontal.
• a boat such as for example boats of the USV type, in English Unmanned Surface Vessel
• a submarine or even from an aircraft, and navigate totally submerged in the water in a nominal position close to the horizontal.
• FIG. 1 An example of an autonomous underwater vehicle 1 navigating at sea 15 is thus illustrated in FIG. 1.
• vehicle and autonomous underwater vehicle are used interchangeably to designate an autonomous underwater vehicle.
• the autonomous underwater vehicle 1 comprises a hull 3, of cylindrical shape or not. In some embodiments, the underwater vehicle may be of any other shape.
• This hull extends along a main longitudinal axis 5.
• the main longitudinal axis 5 passes through the nose 21 of the autonomous underwater vehicle 1 and a propulsion system 11, such as propeller for example.
• the vehicle 1 is illustrated in FIG. 1 in the nominal navigation position, in which the main longitudinal axis 5 is substantially parallel to the horizontal axis.
• horizontal plane is meant a plane having an orientation parallel to the horizon.
• the hull 3 comprises an upper part 3a facing the surface of the sea 15, and a lower part 3b facing the seabed 17.
• the vehicle is configured to navigate in the nominal position illustrated in Figure 1, that is to say in which the main longitudinal axis 5 forms a zero or almost zero angle with the horizontal plane.
• the angle formed is an angle between 0° and 10°.
• trim angle is the longitudinal inclination of the vehicle 1, that is to say the trim angle formed by the main longitudinal axis 5 with the horizontal plane 19 (parallel to direction 23a of frame 23).
• the nominal position of the vehicle 1 is a position of equilibrium of the vehicle 1 when it is submerged, and depends in particular on the relative position of the center of gravity and the center of thrust, also called the center of the hull or of volume.
• the nominal position of the vehicle, for a vehicle of zero buoyancy is characterized by the fact that the center of gravity and the center of thrust are aligned along the vertical (direction 23b orthogonal to the plane horizontal 19).
• the center of gravity of vehicle 1 depends on its architecture, i.e. the mass distribution of its body and the elements that it comprises inside the hull.
• the vehicle's center of thrust the place in the vehicle where the hydrostatic forces, "Archimedes' thrust", are applied, varies according to the distribution of the volumes in the vehicle.
• the position of equilibrium may vary when the vehicle 1 is maneuvered, in particular when the speed of the vehicle 1 is modified, due to the influence of hydrodynamic forces. Also, it appears necessary to modify this equilibrium position of the vehicle to carry out operations requiring maneuvers of the type change of orientation, such as verticalization, as illustrated in Figure 2, described below.
• the vehicle 1 therefore comprises elements making it possible in particular to manage the relative position of the center of gravity and of the center of thrust in order to modify the position of equilibrium of the vehicle 1 for carrying out the various maneuvers. In other words, this amounts to modifying the trim angle of vehicle 1.
• the underwater vehicle 1 here comprises a thruster 11 arranged at one end of the hull 3 of the vehicle and which is capable of modifying the speed of movement of the vehicle under water and also of maneuvering the vehicle. Maneuvering the underwater vehicle means allowing it to move in the three directions identified 23a, 23b, 23c by the reference frame 23 shown in Figure 1.
• the thrust applied to the vehicle 1 by the thruster 11 then drives the vehicle 1 with the part 21, called the nose, in front of the rest of the vehicle 1.
• the nose 21 and the thruster 11 are aligned along the main longitudinal axis 5 of the vehicle 1.
• the first vehicle 1 comprises tuning boxes 7, 9 respectively disposed at the front and the rear of the vehicle 1. These are boxes 7, 9 defining a volume, partially filled with a liquid , such as water or oil.
• the volume of liquid contained in adjustment boxes 7, 9 can be modified, so as to vary the center of thrust of the vehicle 1, thus making it possible to vary the trim angle of the vehicle 1.
• the control boxes 7, 9 are connected to each other by a pipe, thus forming a closed circuit.
• the trim boxes can admit liquid (eg sea water) from the outside or discharge liquid to the outside.
• liquid eg sea water
• the admission of sea water, to weigh down the tuning boxes, can be done by means of a tap coupled to a flow limiter (in particular in the event of overpressure outside the vehicle).
• the evacuation of the water from the control boxes can be done by means of a pump advantageously coupled to a non-return valve. This variation in the overall volume of liquid in the boxes adjustment allows you to vary the weight of the vehicle in the water. This allows the vehicle to be moved closer or further from the surface.
• the variation of the volume contained in the tuning boxes 7, 9 makes it possible to modify the position of the center of thrust by modifying the distribution of the weight inside the hull 3 of the vehicle.
• the vehicle 1 can include several other adjustment boxes 7, 9, arranged differently (to starboard and to port for example ).
• the thrusters and the adjustment boxes can be used (regardless of their positions) to initiate the vertical positioning of the vehicle 1, as illustrated in figure 2.
• FIG. 2 illustrates an example of an operation for monitoring an area of interest 13, requiring the “permanent” verticalization of the vehicle 1.
• the so-called “permanent” verticalization, that is to say for a specified desired period, of a vehicle 1 proves to be an operational asset when using vehicle 1 and in particular when using the on-board sensors of vehicle 1.
• the use of the sensors is less impacted by the swell when the AUV is in a vertical position rather than in a horizontal position, thus ensuring the obtaining of good quality data, all with great discretion.
• such a permanent vertical position of the AUV can prove to be advantageous, in particular to put the antennas of the AUV out of the water, for example during navigation system readjustment phases, or communication phases (radio or satellite).
• the permanent vertical position can also prove to be advantageous, in particular during the phases of recovery at sea of the AUV, in particular to recover the AUV by the nose in order to extract it from the water.
• the initiation of the verticalization of the vehicle 1 aims to move the vehicle 1 from the nominal position (illustrated in Figure 1) to a position close to the vertical (illustrated in Figure 2): this is done by making vary the angle attitude of the vehicle, so that the vehicle in equilibrium in the water, goes from a substantially zero trim angle to a trim angle greater than 60°.
• the surveillance operation aims to monitor the area of interest 13 through a camera 25.
• the camera 25 is placed on an arm attached to the hull 3 of the vehicle 1 .
• the on-board camera 25 is extended above the surface of the water 15 in the direction of the area of interest 13 (via an arm 27), and then makes it possible to obtain images of the area of interest 13 whose sharpness is satisfactory for surveillance activities.
• the initiation of vertical positioning can be done with the adjustment boxes alone, in particular by making the rear of vehicle 1 heavier than the front of the vehicle.
• the rear control box 9 is completely filled with liquid, while the front control box 7 is completely filled with air.
• the position of the center of thrust is modified, so that the position of the center of thrust is moved towards the nose 21 of the vehicle causing a modification of the trim angle of the vehicle.
• the initiation of verticalization can be carried out through the propulsion system, presenting one of the configurations as presented previously
• the initiation of the placing in the vertical position makes it possible to obtain a trim angle of the vehicle 1 which is of the order of 70°, so that the main longitudinal axis of the vehicle is not parallel to the vertical direction 23b.
• the vehicle 1 additionally comprises one or more arms 24, 26 which form part of the vertical positioning device and which are mounted by a proximal end 24a, 26a on the shell 3 and articulated in rotation with respect to the shell 3, and comprising a float 28, 29 at a distal free end 24b, 26b.
• the arm(s) are configured to take:
• the autonomous underwater vehicle 30 comprises a verticalization device comprising a single arm 32.
• the arm 32 comprises two ends, a distal end and a proximal end.
• the proximal end is the end of the arm 32 which is rotatably mounted on the hull 40 of the vehicle 30 and the distal end comprises a float 34, that is to say an element whose volumetric density is lower than that some water.
• Float 34 is integral with arm 32.
• the arm is capable of being arranged in a folded position in which the float 34 is here retracted inside the hull 40 of the vehicle 30. In this folded position, the arm is arranged substantially parallel to the main longitudinal axis 38 of the vehicle 30, so as not to project relative to the hull 40 of the vehicle 38, and therefore not to impact the movement of the vehicle 30 (by creating drag forces ).
• the arm 32 is rotatably mounted on the shell 40 so as to be at least rotatable and form an angle with respect to the main longitudinal axis 38 in the deployed position, as illustrated in FIGS. 4A and 4B.
• the axis of rotation is an axis orthogonal to the main longitudinal axis 5, and oriented along the direction 23c of the frame of reference 23 reproduced in FIGS. 4A and 4B.
• the rotation of the arm 32 from the folded position to the deployed position makes it possible to place the float 34 at a distance from the hull 40 of the vehicle 30.
• the buoyancy of the float acts on the position of the center of thrust of the vehicle.
• the float 34 when the arm 32 is in the deployed position, the float 34 is placed at a distance from the hull 40 of the vehicle 30, so that this influences the position of the center of thrust of the vehicle 30.
• the float 34 allows to move away from the hull 40 of the vehicle 30 a volume of water, so that the position of the hydrostatic forces applied to the vehicle 30 is modified causing the modification of the position of the center of thrust.
• the deployment of the arms then makes it possible to act mainly on the position of the center of thrust, by moving it towards the nose 42 of the vehicle 1.
• the vehicle can continue its movement towards the vertical and the stability of the vehicle in the vertical position can be improved.
• the characteristics of the arms and the floats are chosen so as to allow, when the arm is deployed, to move the center of thrust towards the nose 42.
• the arm 32 is arranged advantageously, at the level of the lower hull of the vehicle 30.
• the arm of this example is qualified as a passive arm, because its positioning relative to the main longitudinal axis 38 depends on the characteristics of the float (for example its buoyancy) but also on the length of the arm.
• the arm 32 and the float 34 are configured so that, in the deployed position, the arm 32 is substantially perpendicular to the main longitudinal axis 38 of the autonomous underwater vehicle 30.
• the arm 32, in the deployed position forms an angle with the main longitudinal axis 38 of the vehicle 1 included in the range [80; 100]
• the deployment of the arm can be triggered by means of an actuator or by the initiation of the vertical movement, as illustrated in Figures 4A and 3A (arrow 41).
• the deployment of the arm can be done by means of an actuating member then allowing the arm to pass from a folded position to a deployed position only.
• the arm once deployed, cannot be folded into the folded position, in which the float is retracted into the hull.
• consumables which can be used only once at sea.
• the actuating member comprises a spring arranged between the arm 32 and the shell 40 of the vehicle 30 and a switch (of the valve type for example, all or nothing) configured to activate the spring, so that the latter exerts a force on the arm 32 to move it from a folded position, substantially perpendicular to the main axis 38, to an extended position.
• a switch of the valve type for example, all or nothing
• the switch is configured to allow the spring to apply a force to the arm 32, so that it assumes an extended position.
• the control boxes and/or the propulsion system 36 are controlled to initiate a vertical setting, and the passive arm 32 is then deployed to have a synergistic action with the control boxes. adjustments and/or propulsion 36.
• the arm 32 is then deployed "at the right moment" when the start of the vertical setting allows the vehicle to have a trim angle of the order of 70°, improving the verticality and holding of the AUV in the vertical position.
• the deployment of the arms can be done simultaneously or one after the other according to a sequence, such as for example starboard then port.
• the vehicle 50 comprises two arms 52, 62 respectively comprising two floats 54, 64 at their distal end.
• the arms are preferably attached to the lower hull, respectively to port and starboard.
• the arms are arranged so as to form an angle 66 comprised in the range [60°; 180°[.
• the arms 52, 62 can be actuated by means of an actuating member allowing one of the arms to pass from a folded position to an extended position and vice versa.
• the actuating member making it possible to deploy the arms 52, 62 and vice versa notably comprises a motor, able to orient the arms 52, 62 in several angular positions with respect to the main longitudinal axis.
• the motorized arms 52, 62 are orientable at least around their axes of rotation (as indicated above, orthogonal to the main longitudinal axis 58 of the vehicle 50) so as to allow the deployment of the arms 52, 62 in deployed positions. selected, for example according to the angle between the main longitudinal axis 58 of the vehicle 50 and of the arm 52, 62.
• the actuating member i.e. the motor
• the vehicle 50 may include a verticality sensor, such as one or more accelerometers, so that the angular position of the arm is monitored and controlled according to the output signal of the verticality sensor.
• the value of the angle between the arm and the vehicle shell can be regulated.
• this makes it possible to ensure good verticality of the AUV, even in the event of disturbances in the environment, such as for example in the event of a swell, or in connection with the density of the water.
• the active control of the position of the arm relative to the hull 60 of the vehicle 50 makes it possible to dynamically stabilize the vehicle 50.
• the two motorized arms 52, 62 make it possible to maneuver the vehicle whatever its speed, and even at zero speed.
• the float is configured to have a variable volume.
• the environmental conditions such as a sudden appearance of an unusual swell
• the arm is telescopic so that the length of the arms can be adjustable.
• the effect of the arms on the center of thrust can be modified by varying the length of the arms.
• the vehicle 50 comprises two active arms 52, 62, it may in one embodiment comprise a single active arm, or more than two active arms.
• the verticalization device also comprises active arms of other elements, such as the adjustment boxes and/or the propulsion system 56.
• the arms 52, 62 are deployed after that verticalization is initiated by the trim boxes and/or the propulsion system 56.
• the verticalization device is then configured to control the arms 52, 62 and/or the adjustment boxes and/or the propulsion system 56.
• the verticalization device comprises a control unit capable of controlling the various elements, in order to ensure the synchronization of their impacts on the center of thrust of the vehicle 80.
• the use of motorized arms in addition to adjustment boxes is illustrated in figures 8 to 10.
• the vehicle 80 illustrated in these figures is generally cylindrical, is about 6.5 m long and has a diameter of about 0.5 m. This vehicle 80 has a mass of about 1200 kg and when submerged, this vehicle 80 displaces about 1100 liters of water.
• the adjustment boxes 82, 84 of the vehicle 80 respectively have a maximum volume of 55 liters. These adjustment boxes 82, 84 are respectively arranged 2 m behind and in front of the center of gravity (CDG) and the center of thrust (CDC for center of the hull in the figures) which are aligned vertically.
• the rear tuning box 82 is thus arranged between the center of gravity (or thrust) and the propulsion system 88, and the front tuning box 84 is arranged between the center of gravity (or thrust) and the nose 83 of the vehicle 80.
• the autonomous underwater vehicle 80 comprises adjustment boxes 82, 84 which are arranged, when the vehicle 80 is in the nominal position, in an upper part 96 of the hull 86 and the arms are attached to a lower part 94 of the hull 86 of the vehicle 80.
• the adjustment boxes 82, 84 and the arms 90 are arranged on either side of the main longitudinal axis 99.
• the tuning boxes are arranged inside the hull of the vehicle 80, in particular in a so-called upper part 96, which, when the vehicle 80 is sailing in its nominal position, is directed towards the surface 85
• the arms are attached to the lower part 94 of the hull 86, which when the vehicle 80 navigates in the nominal position, is directed towards the seabed 87.
• FIGS. 7, 8 and 9 illustrate three configurations of the tuning boxes 82, 84, in which the vehicle 80 has a zero trim angle, a positive trim angle and a negative trim angle, respectively, when immersed in sea water (with a mass volume estimated at 1030 kg/m 3 ).
• the adjustment boxes are filled with 60% air at the front and 20% air at the rear .
• the longitudinal inclination of the vehicle 80 relative to the horizontal plane 98 drives the nose 83 of the vehicle towards the surface of the water 85.
• the filling of the adjustment boxes is modified so that the rear adjustment box 82 has a filling rate greater than the filling rate of the front adjustment box 84.
• the longitudinal inclination of the vehicle 80 with respect to the horizontal plane 98 drives the nose 83 of the vehicle towards the bottom 87.
• the filling of the boxes of settings is changed so that the cash register front adjustment 84 has a filling rate higher than the filling rate of the rear adjustment box 82.
• Two arms 92 are rotatably mounted on the hull 86 of the vehicle 80. At the free end of the arm 92, a float 90 is mounted. In this example, the float has a volume of about 10 liters
• the arms 92 configured to be deployed have a length of approximately 2 m.
• the axis of rotation of the arms is here orthogonal to the main longitudinal axis 99.
• the adjustment boxes 82, 84 are used in conjunction with the arms 92.
• the adjustment boxes are filled with air at 80% at the front and at 0 % at the rear 82.
• the rear tuning box 82 must be completely filled with liquid.
• the adjustment boxes make it possible to generate a vehicle trim angle of a maximum of 75°.
• the action of the arms, by their deployment, allows regulation of the verticality of the vehicle 80, in a range of +/- 12° trim angle around the vertical (that is to say around an angle trim angle of 90°).
• the arms 92a, 92b can be positioned in several isolated positions (some of which are shown in dotted lines in Figure 10).
• the position of the arms is controlled to take one or more isolated positions, when the vehicle initiates a vertical position or when the vehicle is in a vertical position. , so as to form an angle greater than 0° and less than 180° with the main longitudinal axis of the vehicle 80.
• the deployment of one or more arms in one of the deployed positions as illustrated in FIG. a method comprising in particular a step in which, when the trim angle of the vehicle reaches a first threshold angle, the arm(s) is/are actuated to place them in the deployed position, from the folded position.
• the deployment of the arms of the vehicle 80 can be carried out following a modification of the trim angle of the vehicle, for example by the use of the adjustment boxes 82, 84 and/or the propulsion system, so that this trim angle becomes greater than equal to the first threshold angle.
• the verticalization of the vehicle 80 is initiated prior to the deployment of the arms, and carried out for example by means of the adjustment boxes 82, 84 and/or the propulsion system.
• the initialization of the vertical setting through the tuning boxes allows the vehicle 80 to reach a trim angle of approximately 75°.
• the first threshold angle of 70° can be specified, so that the arms are deployed when the vehicle trim angle 80 exceeds 70° through the trim boxes.
• the method can also comprise a step of folding back the arm(s) of the vehicle 80, when the trim angle of the vehicle 80 becomes less than a second threshold angle.
• the arms are configured to be actuated and folded, when the trim angle becomes less than the second threshold value.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Aviation & Aerospace Engineering (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

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• 2021
  • 2021-06-29 FR FR2106967A patent/FR3124486A1/fr active Pending
• 2022
  • 2022-06-28 EP EP22744291.0A patent/EP4363306A1/de active Pending
  • 2022-06-28 WO PCT/FR2022/051275 patent/WO2023275476A1/fr active Application Filing
  • 2022-06-28 US US18/569,644 patent/US20240294241A1/en active Pending

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