RU2670192C1 - Underwater apparatus for destruction of potentially dangerous stationary object - Google Patents

Abstract

FIELD: robotics.SUBSTANCE: invention relates to the field of underwater robotics, in particular to remote-controlled (by cable) uninhabited underwater vehicles of one-time use (TYPE), intended for the destruction of underwater, stationary, potentially dangerous objects, including sea bottom and anchor mines. Underwater apparatus for the destruction of a potentially dangerous stationary object contains a body at the nose end of which a camcorder and a lamp are placed, a combat unit, a source of electrical energy, a propulsion-steering complex consisting of two horizontal propulsors and a vertical bow thruster of a tunnel type, sector-scanning sonar, sonar navigation system, propulsion control system and coil with fiber optic cable. Combat part is located directly in the nose of the body coaxially with its axis and in its diametrical plane so that the longitudinal axis of the warhead is located under the longitudinal axis of the body, and the warhead on its front edge is provided with an anti-skid nozzle, which is located behind the outer circumference of the nose of the apparatus. Video camera and the luminaire are located in the bow of the hull in one horizontal plane above the warhead with displacement for its front edge, with the camera and the luminaire set at an angle of 10° up to 14° to the longitudinal axis of the warhead.EFFECT: increase in the efficiency of search and destruction of potentially dangerous stationary objects is achieved.6 cl, 5 dwg

Description

The invention relates to the field of underwater robotics - in particular, to remote-controlled unmanned underwater vehicles (cable) of single-use, designed to destroy underwater, stationary, potentially dangerous objects, including sea bottom and anchor mines.

Known designs of foreign TNLA single-use, which are designed to destroy bottom and anchor mines.

Known TNPA "Archerfish" the British Navy (Illarionov G.Yu., Sidenko KS, Bocharov L.Yu., Threat from the depths: XXI century: - Khabarovsk: KGUP "Khabarovsk Regional Printing House", 2011, p. 62- 63, Fig. 2.18 and 2.19), developed by CEC - Marconi in collaboration with SNPE Explosives & Propellants Group. TNLA weighing about 25 kg has a speed of 3-5 knots (hereinafter knots), a range of not less than 2000 m and is equipped with a cumulative warhead. The device has two reversing propulsors and is equipped with a front view hydroacoustic system (GAS), a video camera and a lamp. TNPA system "Archerfish" has a mode of transition to the target area (like a torpedo), as well as modes of search, detection and destruction of mines by means of an explosive charge. Identification of the detected target is carried out by the operator based on the analysis of data received from the CEO and the video camera.

Known TNPA “K-Ster” of the French Navy (Illarionov G.Yu., Sidenko KS, Bocharov L.Yu., Threat from the depths: XXI century: - Khabarovsk: KGUP “Khabarovsk Regional Printing House”, 2011, sec 65-67, Fig. 2.22), which is designed to destroy all types of mines, including those buried in the ground, under sea conditions up to 5 points, at depths from 0 to 300 m and at a distance of up to 1000 m from the carrier ship. The mass of the device is 40 kg, length 1.4 m, speed 5 knots. Two horizontal and one vertical mover provide the device with good maneuverability even in strong currents. The operation takes about 15 minutes. The device is equipped with a video camera and a gas-emitting diode with a changing operating frequency from 600 kHz to 1.2 MHz, providing an accurate exit on a mine with very poor visibility. The TNPA warhead deployed towards the mine contains a powerful explosive mass of 6 kg and does not require direct contact with the mine.

The closest in technical essence to the claimed invention is selected as a prototype TNPA "Minesniper", developed by the Norwegian company "Kongsberg Defense & Aerospace" and intended for use against bottom and anchor mines (Illarionov G.Yu., Sidenko K.S., Bocharov L.Yu., A threat from the depths: XXI century: - Khabarovsk: KGUP Khabarovsk Regional Printing House, 2011, p. 67, Fig. 2.23). The length of the TNLA is about 1500 mm, diameter 200 mm, weight 30 kg, depth 500 m, maximum range - 4000 m. The device can reach speeds of up to 6 knots (operating speed from 2 to 4 knots). TNPA is equipped with two reversing propulsors, equipment for sonar navigation system, sector survey sonar (GSO), as well as a video camera and a searchlight. Guidance of the device to the target is carried out automatically according to the ship's sonar and navigation systems. Upon arrival in the target area, the GAS and video camera are turned on. The operator manually controls the device from the ship to identify the detected target based on the analysis of its acoustic signature and video image. The existing version of the Minesniper system can be equipped with a cumulative explosive charge weighing 3 kg.

Design features of TNPA - prototype are:

a hull in the bow of which there is a video camera and a lamp, a warhead, an electric energy source, a propulsion-steering complex consisting of two horizontal propulsion devices and a tunnel-type aft vertical thruster, a sector-wide sonar, a sonar navigation system, propulsion control system, a coil with fiber optic cable.

The disadvantages of the TNLA prototype, including the above known TNLA analogues, are:

1. The cumulative warhead is located in the depths of the apparatus (in front of it are cameras and lamps), which excludes direct contact of the warhead with the destroyed object. This leads to the need to increase the power (mass) of the warhead and to increase the mass and size of the TNLA itself.

2. The human operator who controls the TNLA in supervisor mode via a fiber-optic cable cannot provide accurate guidance of the device to a given point of the destroyed object (target) along the normal to its surface (especially if it is a small-sized object) since it does not see where exactly touched the nose of TNPA. Often the water near the bottom of the sea is cloudy, which makes navigation even more difficult. Parrying these shortcomings at the design level also leads to the need to increase the power (mass) of the warhead and increase the mass and size of the TNLA itself.

3. The bow of the TNLA must accurately (without slipping) abut against the body of the destroyed object in a given place normal to its surface (this requirement is provided by the TNLA operator). The nose of the prototype has a smooth surface, which contributes to its sliding on the body of the destroyed object, which greatly complicates the work of the operator, who has to make several visits to the destroyed object. The energy of the TNPA battery is limited, so any difficulties with the contact of the nose of the device with the goal are not desirable.

4. Destroyed object (target) can be at the bottom of the sea in any position. Often this object can be partially or completely silted. In this regard, in order to approach the target along the normal to its body, it is often necessary to create large trim angles from 45 to 80 °. So, TNPA “K-Ster” (see. Fig. 2.22) has a swiveling warhead, which complicates the design and increases the size and weight of the apparatus. The prototype is deprived of the ability to create large trim, as it has only one vertical tunnel thruster.

5. Controlled by cable TNLA for the destruction of potentially dangerous objects is placed on a carrier vessel, on board of which there is an electronic map with the coordinates of the targets. The carrier vessel must take a place at a safe distance from the destroyed object (target), since, for example, a sea mine can detonate and damage the vessel. This safe distance is about 1000 m. After the TNLA is launched into the water, it must pass this distance and use its on-board means (sonar and camera) to find the target, which is very difficult without the GLONASS system.

6. When the apparatus detects a small (often silted) target under water at long distances of about 90-120 m, the sector-wide sonar (GSO) plays the main role. The prototype has only one type of antenna, which is not enough when detecting small objects.

These shortcomings limit the functionality of the known TNLA and do not allow the operator to effectively search for and destroy potentially dangerous stationary objects.

The basis of the alleged invention is the task to eliminate these disadvantages and to increase the efficiency of the search and destruction of potentially dangerous stationary objects.

The problem is solved in that in an underwater vehicle for destroying a potentially dangerous object containing a hull, in the bow of which there is a video camera and a lamp, a warhead, an electric energy source, a propulsion-steering complex, consisting of two horizontal propulsors and a stern tunnel thruster type, sector survey sonar, sonar navigation system, propulsion control system, coil with fiber optic cable, warhead p located directly in the nose of the hull coaxially with its axis and in its diametrical plane so that the longitudinal axis of the warhead is located under the longitudinal axis of the hull, and the warhead from the side of its front edge is provided with an anti-slip nozzle, which is located behind the outer contours of the nose of the hull of the apparatus, and the video camera and the lamp are placed in the bow of the hull in the same horizontal plane above the warhead with an offset beyond its front edge, and the video camera and lamp are installed s at an angle of 10 ° to 14 ° to the longitudinal axis of the warhead.

The task is also achieved by the fact that in the underwater vehicle for the destruction of a potentially dangerous object:

- the anti-slip nozzle of the warhead is equipped with sharp spikes;

- a laser source (sight) is installed in the nasal tip of the housing in its diametrical plane between the video camera and the lamp;

- propulsion-steering complex is additionally equipped with a bow thruster vertical tunnel type;

- the sector survey sonar is equipped with two antennas, namely, low-frequency and high-frequency;

- the GLONASS system with an antenna mounted above the hull on the pylon is placed on the device.

In the claimed underwater vehicle, the common essential features for him and for his prototype are:

- an underwater vehicle for the destruction of a potentially dangerous stationary object,

- housing, in the nasal tip of which a video camera and a lamp are placed;

- warhead;

- source of electrical energy;

- propulsion and steering complex, consisting of two horizontal propulsors and aft vertical thruster thruster;

- sector survey sonar;

- sonar navigation system;

- propulsion control system;

- reel with fiber optic cable.

A comparative analysis of the essential features of the claimed underwater vehicle and its prototype shows that the first, unlike the prototype, has the following significant distinguishing features:

- the warhead is located directly in the nose of the hull coaxially with its axis and in its diametrical plane so that the longitudinal axis of the warhead is placed under the longitudinal axis of the hull;

the warhead from the side of its leading edge is equipped with an anti-slip nozzle, which is located behind the outer contours of the bow of the apparatus;

- the video camera and the lamp are located in the bow of the hull in the same horizontal plane above the warhead with an offset beyond its front edge;

- the video camera and the lamp are installed at an angle from 10 ° to 14 ° to the longitudinal axis of the warhead;

- the anti-slip nozzle of the warhead is equipped with sharp spikes;

- a laser source (sight) is installed in the nasal tip of the housing in its diametrical plane between the video camera and the lamp;

- propulsion-steering complex is additionally equipped with a bow thruster vertical tunnel type;

- the sector survey sonar is equipped with two antennas, namely, low-frequency and high-frequency;

- the GLONASS system with an antenna mounted above the hull on the pylon is placed on the device.

Distinctive features of the proposed technical solution perform the following functional tasks to achieve the desired technical result:

- signs "... the warhead is located directly in the nose of the hull coaxially with its axis and in its diametrical plane so that the longitudinal axis of the warhead is located under the longitudinal axis of the hull, and the warhead from the side of its front edge is provided with an anti-slip nozzle, which is located outside the outer contours the nasal tip of the vehicle’s body ... ”provide direct (direct) mechanical contact of the warhead of the underwater vehicle with the destroyed object through its anti-slip nozzle;

- the signs "... the video camera and the lamp are placed in the nose of the hull in one horizontal plane above the warhead with an offset beyond its front edge, and the video camera and the lamp are installed at an angle of 10 ° to 14 ° to the longitudinal axis of the warhead ..." facilitate the operator’s guidance task underwater vehicle to the destroyed object, since the target and the front of the warhead, namely, the anti-slip nozzle, simultaneously fall into the television frame of the monitor of the operator controlling the device;

- the sign "... the anti-slip nozzle of the warhead is equipped with sharp spikes ..." increases the friction of the anti-slip nozzle of the warhead of the underwater vehicle against the body of the destroyed object during their mutual contact;

- the sign “... in the bow tip of the case in its diametrical plane between the video camera and the lamp there is a laser source (sight) ...” makes it easier for the operator to aim the device at the target;

- the sign "... the propulsion-steering complex is additionally equipped with a tunnel-type bow vertical thruster ..." improves the maneuverability and controllability of the apparatus due to the fact that the propulsion-steering complex of the apparatus consists of two horizontal thrusters and two tunnel-type thrusters: bow and stern, which in conjunction with the motion control system allows the device to create large trim angles, i.e. approach normal to the target at any angle from 0 to 80 °;

- the sign “... the sector survey sonar is equipped with two antennas, namely, low-frequency and high-frequency ...” allows detecting a small (often silted) bottom hazardous object (target) at long distances of about 90-120 meters;

- the sign “... the GLONASS system is placed on the underwater vehicle with an antenna mounted above the hull on the pylon ...” provides accurate navigation data for the underwater vehicle, which helps to search for a dangerous object (target) in the water with less time.

This combination of common and distinctive essential features provides a technical result in all cases for which legal protection is requested. It is this combination of essential features of the claimed TNLA that allowed us to obtain a technical result, which is expressed in the following:

- increasing the efficiency of the search and destruction of potentially dangerous stationary objects due to:

- facilitate the task of the operator pointing TNPA on the target;

- providing direct mechanical contact with a potentially dangerous object (target), which leads to a decrease in the mass of the explosive charge and a decrease in the mass of the whole TNLA;

- improving the maneuverability and controllability of TNLA, which together with the motion control system allows TNLA to be normal to the target at any angle from 0 to 80 °;

- obtaining navigation data TNLA, contributing to the accelerated search for targets in the water.

Based on the foregoing, we can conclude that the set of essential features of the claimed invention has a causal relationship with the achieved technical result, i.e. due to this combination of essential features of the invention, it became possible to solve the problem. Therefore, the claimed invention is new, has an inventive step and is suitable for use.

The invention is illustrated by drawings, where: in FIG. 1 shows an underwater vehicle for the destruction of a potentially dangerous stationary object: a - top view, b - longitudinal section, c - front view, type I - anti-slip nozzle of the warhead; in FIG. 2 shows the approach of the underwater vehicle along the normal to the target at an angle from 0 ° to 80 °: a - approach to the target with a convex contact surface, b - approach to the target with a flat contact surface; in FIG. 3 shows the balance of forces of the DRC acting on the apparatus before correction: a - in the position of the apparatus without trim, b - in the position of the apparatus with trim; in FIG. 4 shows the balance of forces of the DRC acting on the apparatus after correction; in FIG. 5 shows a model for using an underwater vehicle.

The underwater vehicle for destroying a potentially dangerous stationary object contains a building 1, in the bow of which there is a video camera 2 and a lamp 3, a warhead 4, an electric power source 5, a propulsion-steering complex consisting of two horizontal propulsion devices 6 and aft vertical thruster 7 tunnel type, sector survey sonar, sonar navigation system, propulsion control system, coil 8 with fiber optic cable 9. Warhead 4 is placed directly essentially in the nasal extremity of the housing 1 coaxially to its axis and in its diametrical plane so that the longitudinal axis of the warhead 4 is placed under the longitudinal axis of the housing 1, and the warhead 4 on the side of its front edge is provided with an anti-slip nozzle 10, which is located outside the outer contours of the nasal extremity body 1 apparatus. The video camera 2 and the lamp 3 are placed in the nasal tip of the housing 1 in the same horizontal plane above the warhead 4 with an offset beyond its front edge, and the video camera 2 and the lamp 3 are installed at an angle of 10 ° to 14 ° to the longitudinal axis of the warhead 4. Anti-slip nozzle 10 of the warhead 4 is equipped with sharp spikes 11. In the nasal extremity of the housing 1 in its diametrical plane between the video camera 2 and the lamp 3 a laser source 12 (sight) is installed. The propulsion and steering complex is additionally equipped with a bow thruster 13 of a tunnel type. The sector survey sonar is equipped with two antennas, namely, low-frequency 14 and high-frequency 15. The apparatus is equipped with a GLONASS system with antenna 16 located above the hull 1 on the pylon.

Additionally, the drawings indicate:

17 - nose cone

18 - block buoyancy

19 - buoyancy unit

20 - pressure compensator

21 - echo sounder

22 - depth sensor

23 - strong container

24 - electronics unit

25 - aft fairing

Thus, in the underwater vehicle, the warhead (hereinafter referred to as warhead) 4 is pulled out of the housing 1 as far forward as possible for direct mechanical contact with a potentially dangerous object (target), and the video camera 2 with the lamp 3 is located behind the front edge of the warhead 4 and has an inclination of 10 ° to 14 ° with respect to the axis of the warhead 4, so that the target and the front of the warhead simultaneously fall into the television frame of the monitor of the operator controlling the apparatus. In the bow of the housing 1 is a laser light source 12 (i.e., a sight), which makes it easier for the operator to aim the device at the target.

The front of the warhead 4 is equipped with an anti-slip nozzle 10 (Fig. 1) with several rows of sharp spikes And, increasing the friction of the warhead against the target’s body when they are in mutual contact.

The steering-and-steering complex (DRC) of TNLA consists of two horizontal thrusters 6 and two tunnel-type thrusters: bow 13 and aft 7, which together with the motion control system allows the TNLA to create large trim angles, i.e. approach normal to the target at any angle from 0 to 80 ° (see Fig. 2). Consider the definition of the control actions of the DRC, ensuring the freezing of TNLA with a given trim angle in the presence of residual buoyancy (Fig. 3 and Fig. 4).

The deviation of the TNLA from the zero trim angle ψ leads to the horizontal drift of the apparatus under the action of the projection of the vertical thrust of the DRC, which ensures depth stabilization with non-zero residual buoyancy Q

F _ΣX = E _HFA = F _PD ⋅sinψ = -Q⋅sinψ

In addition, there will be a decrease in the thrust of vertical thrusters and a violation of the balance of vertical forces with a subsequent increase in the error of depth stabilization (see Fig. 3)

F _ΣY = QF _PD ⋅cosψ = Q⋅ (1-cosψ)

To implement the hang of a device with a trim, it is necessary to create a thrust of horizontal propulsors that compensates for the projection F of the _HFD and correct the vertical thrust. The determination of the corrective actions of the DRC by the known trim angle ψ and residual buoyancy Q has the following calculated justification (see Fig. 4):

Check

In order to detect the apparatus of a small (often silted) bottom object (target) under water at long distances of about 90-120 m, it includes a GSO with two antennas: the upper low-frequency antenna 14 and the lower high-frequency 15.

To improve the practical value of the navigation system TNPA, which helps to find a target in the water, it is equipped with a GLONASS antenna 16 system, which is extended up on the pylon, which allows the device to move towards the target on the surface of the water with high accuracy so that it is exactly at the target when immersed.

The use model of TNLA is shown in FIG. 5 and provides for the following actions:

a. The exit of the TNLA carrier to the point of the alleged potentially dangerous object (NGO) at a safe distance of about 1000 m (Fig. 5a).

b. The descent of the apparatus into the water and automatic movement on the surface to a point with the coordinates of the target. The movement of the device is coordinated according to the GLONASS airborne receiver. Information communication is provided through a fiber optic cable 9, discarded from the inertialess coil 8 of the apparatus (Fig. 5b).

c. Immersion of TNLA at the point with the coordinates of the target using vertical thrusters 7 and 13, to a distance of 5 m from the ground.

d. Inspection of the bottom surface with low-frequency GSO 14 in the circular scan mode. In the absence of sonar contact for the purpose, it is necessary to reduce the height above the ground and repeat a circular scan of the bottom surface.

e. When a target is detected by a low-frequency GSO 14 (Fig. 5c), it is necessary to switch to the guidance mode by target designation from a high-frequency GSO 15, setting the course angle corresponding to the direction to the target.

f. After the appearance of visual contact with the target with the help of a video camera 2 with a lamp 3, the TNPA, according to the operator’s commands, enters the target identification mode, maneuvering the device in depth, course and travel. At the same time, video is being recorded from the camera's cameras to the control panel recorder.

g. In case of confirmation of the discovery of an NGO, the apparatus proceeds to its destruction. To increase the effectiveness of the warhead, the apparatus is brought to the target at a distance of about 1 m, turns on the laser pointer 12 and is oriented normal to the target’s surface by changing its angular position along the trim. The TNPA guidance process is controlled by the camera’s cameras and a laser target designator 12.

h. After achieving the required coordination of the apparatus relative to the target (Fig. 5d), the operator sends a command to undermine the warhead.

As a result, TNLA ensures the destruction of the target by undermining warheads with direct mechanical contact of the nose of the device with the target.

Claims (6)

1. An underwater vehicle for destroying a potentially dangerous stationary object, comprising a housing, in the bow of which there is a video camera and a lamp, a warhead, an electric energy source, a propulsion-steering complex, consisting of two horizontal propulsors and aft vertical thruster, a sector sonar overview, sonar navigation system, propulsion control system, reel with fiber optic cable, characterized in that the warhead times it is located directly in the nasal tip of the hull coaxially with its axis and in its diametrical plane so that the longitudinal axis of the warhead is located under the longitudinal axis of the hull, and the warhead on the side of its front edge is provided with an anti-slip nozzle, which is located behind the outer contours of the nose of the hull the video camera and the lamp are placed in the bow of the hull in the same horizontal plane above the warhead with an offset beyond its front edge, and the video camera and the lamp are installed At an angle of 10 ° to 14 ° to the longitudinal axis of the warhead. 2. Underwater vehicle according to claim 1, characterized in that the anti-slip nozzle of the warhead is equipped with sharp spikes. 3. The underwater vehicle according to claim 1, characterized in that a laser source (sight) is installed in the nose end of the housing in its diametrical plane between the video camera and the lamp. 4. The underwater vehicle according to claim 1, characterized in that the propulsion-steering complex is additionally equipped with a bow thruster vertical tunnel type. 5. The underwater vehicle according to claim 1, characterized in that the sector survey sonar is equipped with two antennas, namely a low-frequency and a high-frequency. 6. The underwater vehicle according to claim 1, characterized in that the GLONASS system with an antenna mounted above the hull on the pylon is placed on the device.

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