JP7086134B2 - 無人水中輸送手段 - Google Patents
無人水中輸送手段 Download PDFInfo
- Publication number
- JP7086134B2 JP7086134B2 JP2020089831A JP2020089831A JP7086134B2 JP 7086134 B2 JP7086134 B2 JP 7086134B2 JP 2020089831 A JP2020089831 A JP 2020089831A JP 2020089831 A JP2020089831 A JP 2020089831A JP 7086134 B2 JP7086134 B2 JP 7086134B2
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- JP
- Japan
- Prior art keywords
- uuv
- fluid
- nozzle
- duct
- propulsion system
- 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.)
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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
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Description
110、210 本体
120、420 推進システム
121a~121d、221a、321a~321d、421a~421d 回転ノズル,ノズル
122a、322、422 入口
123a、423a~423d ダクト
124a 流動経路
125a、425a~425d 内部ポンプ、ポンプ
140、240 船首モジュール、モジュール式構成部材、モジュール
141、241 第1推進モジュール、推進モジュール、モジュール式構成部材、モジュール
142、242 中間セクションモジュール、モジュール式構成部材、モジュール
143、243 第2推進モジュール、モジュール式構成部材、モジュール
144、244 船尾モジュール、モジュール式構成部材、モジュール
150a 格子状カバー
151a、451a~451d インペラ
153a ステータ
234a、234b タイロッド
Claims (2)
- 無人水中輸送手段(UUV)であって、
外郭形状を有する本体と、
前記UUVを推進させて方向付けるための推進システムと、
を備え、
前記推進システムは、
前記本体内に形成され、前記本体の外側から前記UUV内へ流体を引き込むことを容易にする入口と、
前記入口と流体連通するダクトであって、当該ダクトが、流動経路に沿うように流体を向けるように構成されている、ダクトと、
前記ダクトと共に動作可能であり、流体の速度を増大させるポンプと、
前記ダクトと流体連通し、速度を増大させた流体を受けるノズルであって、当該ノズルは、前記本体の側部の周囲に支持されており、当該UUVの外へ流体を移動可能に再度向けるように構成されている、ノズルと、
を含み、
前記ノズルは、前記本体の長手方向の軸に対して垂直な軸まわりに回転できるように支持されており、かつ、前記本体の長手方向の軸に対して垂直な当該軸まわりに全360度回転することができ、
前記推進システムは、前記UUVの多軸制御を提供し、かつ、
前記ノズルは、前記本体の前記外郭形状の内側にある、
ことを特徴とする、無人水中輸送手段。 - 無人水中輸送手段(UUV)であって、
外郭形状を有する本体と、
前記UUVを推進させて方向付けるための一対の推進システムと、
を備え、
前記推進システムそれぞれは、
前記本体内に形成され、前記本体の外側から前記UUV内へ流体を引き込むことを容易にする入口と、
前記入口と流体連通するダクトであって、当該ダクトが、流動経路に沿うように流体を向けるように構成されている、ダクトと、
前記ダクトと共に動作可能であり、流体の速度を増大させるポンプと、
前記ダクトと流体連通し、速度を増大させた流体を受けるノズルであって、当該ノズルは、前記本体の側部の周囲に支持されており、当該UUVの外へ流体を移動可能に再度向けるように構成されている、ノズルと、
を含み、
前記ノズルそれぞれは、前記本体の長手方向の軸に対して垂直なそれぞれの軸まわりに回転できるように支持されており、かつ、前記本体の長手方向の軸に対して垂直な当該それぞれの軸まわりに全360度回転することができ、
前記ノズルそれぞれは、前記本体の前記外郭形状の内側にあり、
前記ノズルそれぞれは、前記UUVの多軸制御を提供するように、前記本体の互いに相対する場所において支持されている、
ことを特徴とする、無人水中輸送手段。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/667,505 US9174713B2 (en) | 2012-11-02 | 2012-11-02 | Unmanned underwater vehicle |
US13/667,505 | 2012-11-02 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017151646A Division JP6771438B2 (ja) | 2012-11-02 | 2017-08-04 | 無人水中輸送手段 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020128209A JP2020128209A (ja) | 2020-08-27 |
JP7086134B2 true JP7086134B2 (ja) | 2022-06-17 |
Family
ID=50693942
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015540828A Active JP6505017B2 (ja) | 2012-11-02 | 2013-11-01 | 無人水中輸送手段 |
JP2017151646A Active JP6771438B2 (ja) | 2012-11-02 | 2017-08-04 | 無人水中輸送手段 |
JP2020089831A Active JP7086134B2 (ja) | 2012-11-02 | 2020-05-22 | 無人水中輸送手段 |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015540828A Active JP6505017B2 (ja) | 2012-11-02 | 2013-11-01 | 無人水中輸送手段 |
JP2017151646A Active JP6771438B2 (ja) | 2012-11-02 | 2017-08-04 | 無人水中輸送手段 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9174713B2 (ja) |
EP (1) | EP2914485B1 (ja) |
JP (3) | JP6505017B2 (ja) |
ES (1) | ES2668679T3 (ja) |
WO (1) | WO2014113121A2 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9090319B2 (en) * | 2011-09-30 | 2015-07-28 | Seabed Geosolutions As | Autonomous underwater vehicle for marine seismic surveys |
US9873496B2 (en) | 2014-10-29 | 2018-01-23 | Seabed Geosolutions B.V. | Deployment and retrieval of seismic autonomous underwater vehicles |
US9227709B1 (en) | 2014-11-12 | 2016-01-05 | Ecole Polytechnique Federale De Lausanne (Epfl) | Underwater propelling device for underwater vehicle |
GB201501479D0 (en) | 2015-01-29 | 2015-03-18 | Norwegian Univ Sci & Tech Ntnu | Underwater manipulator arm robot |
CN105159234A (zh) * | 2015-09-24 | 2015-12-16 | 泰顺派友科技服务有限公司 | 以单一潜水泵为动力源的水底清污机器人运动控制方法 |
US10322783B2 (en) | 2015-10-16 | 2019-06-18 | Seabed Geosolutions B.V. | Seismic autonomous underwater vehicle |
CN106542047B (zh) * | 2016-10-25 | 2019-07-02 | 西安兰海动力科技有限公司 | 一种水下回转型耐压壳体间的连接装置及连接方法 |
EP3577497A1 (en) | 2017-02-06 | 2019-12-11 | Seabed Geosolutions B.V. | Ocean bottom seismic autonomous underwater vehicle |
JP2018154177A (ja) * | 2017-03-16 | 2018-10-04 | ヤンマー株式会社 | 水中推進装置 |
KR101975203B1 (ko) * | 2017-09-01 | 2019-05-08 | (주)아이언박스 | 수중 글라이더 |
US10654550B2 (en) | 2018-02-13 | 2020-05-19 | Raytheon Company | Expanding flow nozzle |
US11255998B2 (en) | 2018-05-17 | 2022-02-22 | Seabed Geosolutions B.V. | Cathedral body structure for an ocean bottom seismic node |
CN110109355A (zh) * | 2019-04-29 | 2019-08-09 | 山东科技大学 | 一种基于强化学习的无人艇异常工况自愈控制方法 |
DE102019206794B4 (de) * | 2019-05-10 | 2021-03-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Unterwasserfahrzeug |
US11724787B2 (en) | 2019-08-07 | 2023-08-15 | Raytheon Company | Methods and systems for determining a depth of an object |
JP6915019B2 (ja) * | 2019-10-17 | 2021-08-04 | 三菱重工業株式会社 | 水中航走体 |
CN110963012B (zh) * | 2019-12-20 | 2022-03-01 | 鹏城实验室 | 水下潜航器和水下潜航设备的控制方法 |
RU2759497C1 (ru) * | 2021-02-12 | 2021-11-15 | Акционерное Общество "Концерн "Океанприбор" | Многолучевой эхолот автономного необитаемого подводного аппарата |
CN114516393B (zh) * | 2022-04-19 | 2022-09-30 | 四川农业大学 | 一种基于Kinect的水下地形3D成像监测装置及其监测方法 |
Citations (3)
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JP2000302093A (ja) | 1999-03-09 | 2000-10-31 | Outboard Marine Corp | 船舶及びジェット推進装置 |
US20020178990A1 (en) | 2001-06-04 | 2002-12-05 | Mcbride Mark W. | Propulsion of underwater vehicles using differential and vectored thrust |
WO2003059734A1 (en) | 2002-01-15 | 2003-07-24 | Hafmynd Ehf. | Construction of an underwater vehicle |
Family Cites Families (12)
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GB191515718A (en) | 1915-11-06 | 1919-03-20 | Robert Owen King | Improvements in and relating to Submersible Vessels. |
US2963543A (en) * | 1956-12-10 | 1960-12-06 | Gen Precision Inc | Underwater television propulsion apparatus |
FR2455162A1 (fr) * | 1979-04-27 | 1980-11-21 | Commissariat Energie Atomique | Vehicule sous-marin de dragage et de remontee de mineraux a grande profondeur |
JPS63129693U (ja) * | 1987-02-19 | 1988-08-24 | ||
NO176338C (no) * | 1989-08-10 | 1995-03-15 | Geco As | Anordning ved oppdriftslegeme |
US5045004A (en) * | 1989-09-28 | 1991-09-03 | Allied-Signal Inc. | Turbo-hydroduct propulsion system |
US5574246A (en) * | 1995-04-21 | 1996-11-12 | Alliedsignal Inc. | Underwater vehicle with improved jet pump propulsion configuration |
US5704309A (en) * | 1995-12-06 | 1998-01-06 | Seamagine Hydrospace Corporation | Hybrid boat and underwater watercraft |
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US6932013B1 (en) | 2004-02-20 | 2005-08-23 | The United States Of America As Represented By The Secretary Of The Navy | Maneuvering of submerged waterjet propelled sea craft |
US7124698B1 (en) | 2004-02-20 | 2006-10-24 | The United States Of America As Represented By The Secretary Of The Navy | Auxiliary facilities for the maneuvering of submerged water jet propelled sea craft |
JP5166819B2 (ja) * | 2007-10-18 | 2013-03-21 | 三菱重工業株式会社 | 水中航走体 |
-
2012
- 2012-11-02 US US13/667,505 patent/US9174713B2/en active Active
-
2013
- 2013-11-01 EP EP13854200.6A patent/EP2914485B1/en active Active
- 2013-11-01 ES ES13854200.6T patent/ES2668679T3/es active Active
- 2013-11-01 WO PCT/US2013/068099 patent/WO2014113121A2/en active Application Filing
- 2013-11-01 JP JP2015540828A patent/JP6505017B2/ja active Active
-
2017
- 2017-08-04 JP JP2017151646A patent/JP6771438B2/ja active Active
-
2020
- 2020-05-22 JP JP2020089831A patent/JP7086134B2/ja active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000302093A (ja) | 1999-03-09 | 2000-10-31 | Outboard Marine Corp | 船舶及びジェット推進装置 |
US20020178990A1 (en) | 2001-06-04 | 2002-12-05 | Mcbride Mark W. | Propulsion of underwater vehicles using differential and vectored thrust |
WO2003059734A1 (en) | 2002-01-15 | 2003-07-24 | Hafmynd Ehf. | Construction of an underwater vehicle |
Also Published As
Publication number | Publication date |
---|---|
JP6505017B2 (ja) | 2019-04-24 |
JP2020128209A (ja) | 2020-08-27 |
JP6771438B2 (ja) | 2020-10-21 |
WO2014113121A9 (en) | 2014-12-24 |
WO2014113121A3 (en) | 2014-09-12 |
JP2015534924A (ja) | 2015-12-07 |
JP2017222352A (ja) | 2017-12-21 |
EP2914485B1 (en) | 2018-04-11 |
ES2668679T3 (es) | 2018-05-21 |
US20140213126A1 (en) | 2014-07-31 |
WO2014113121A2 (en) | 2014-07-24 |
EP2914485A2 (en) | 2015-09-09 |
US9174713B2 (en) | 2015-11-03 |
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