RU2679756C1 - Transporter-launcher container for underwater apparatus and method of underwater vehicle control - Google Patents

Abstract

FIELD: marine equipment.SUBSTANCE: invention relates to the field of marine technology, namely, devices that serve for storing and launching underwater vehicles from boats, and can be used for remote control of underwater vehicles, in particular for controlling the underwater vehicle, in which the conditions of storage of the underwater vehicle are monitored on the watercraft. Before launch, test the underwater vehicle and make sure it is working. Apply the underwater vehicle stored in the transporter-launcher container, monitoring the storage conditions of the underwater vehicle, testing and preparing it for start-up is performed using a contactless communication device. Remove the underwater vehicle from the transporter-launcher container at a safe distance from the watercraft by self-escape or through the use of buoyancy force. After launching the container, the carrier beacon is separated from it together with the towed carrier coil, which are connected to each other and the watercraft by means of a wire or fiber-optic cable. After the underwater vehicle leaves the container, the underwater vehicle’s beacon is disconnected from it, its ascent to the surface and, unwinding the wire or fiber-optic cable from the coil of the underwater vehicle and the coil of the beacon of the underwater vehicle, prevent its rupture due to the spatial movement of the underwater vehicle and its beacon, after the ascend of the carrier’s beacon and the underwater vehicle’s beacon, radio contact is established between them and the submersible is remotely controlled.EFFECT: preparation for the launch of the underwater vehicle and the introduction of the route task, the launch and remote control of the underwater vehicle on the route is achieved.2 cl, 7 dwg

Description

The invention relates to the field of marine engineering, namely, to devices for storing and launching underwater vehicles from watercraft and can be used for remote control of underwater vehicles.

Promising watercraft using underwater vehicles (PA) for various purposes should meet the requirements of quickly setting up their technical systems for the tasks to be solved. This is facilitated by the creation of new storage and launch systems for PA with the deployment of PA in container-type launchers, as well as in overboard launchers. This approach is designed to ensure the modification diversity of the used PAs and the possibility of placing them on a carrier in large quantities [Efimov OI, Krasilnikov EP, Shavyrin IA, Yurin V.F. Outboard weapons modules for submarines: possible solutions // Defense order No. 18, 2008. Internet application, www.ozakaz.ru].

A device for storing and starting from the carrier of an autonomous underwater or aircraft [Universal module for fixing missiles in a launcher / Patent 2613205 RU. M .: FIPS, 2017. Bull. No. 8], which is taken as a prototype of the invention and is a transport and launch container (TPK), combining a transport container and a launcher. The apparatus prepared on the basis of the apparatus is loaded into the TPK and transported to the carrier, loaded and the established storage mode is provided. During operation of the medium, the apparatus is released and the task is carried out. In general, a TPK device includes a rigid case equipped with one or two covers, a mechanism for closing and opening them, devices for fastening the device and moving it to the TPK (lodgement supports with lateral horizontal platforms, guide support belts mounted on the body or the like devices), an energy device for pushing the apparatus out of the TPK [Universal module for fixing missiles in a launcher / Patent 2613205 RU. M .: FIPS, 2017. Bull. No. 8], [R.V. Krasilnikov. Systems for controlling uninhabited vehicles are an asymmetric response to the threats of the 21st century. SPb .: Info-yes, 2013 .-- 106 p. S. 69-77].

To start the underwater vehicle from the watercraft, an energy source is used in the TPK that creates buoyancy force and ensures the safety of the watercraft after the launch of the aircraft and the guaranteed exit of the aircraft to the programmed underwater trajectory. Powder pressure accumulators (PAD), electricity, hydraulics and high pressure air (VVD) are used as an energy source.

In addition to the storage and start-up functions of the PA, TPK should provide protection of the PA from dynamic influences, data exchange with the PA (dialogue) in preparation for start-up and testing, and also protect the PA from environmental influences [R.V. Krasilnikov. Systems for controlling uninhabited vehicles are an asymmetric response to the threats of the 21st century. SPb .: Info-yes, 2013 .-- 106 p. S. 75]. For this, TPKs are equipped with:

- devices for fire and explosion safety of the carrier;

- microclimate and ventilation system TPK, providing the specified storage conditions of the apparatus;

- communication devices of the ship’s control system with the vehicle’s onboard control system (BSU), which verify the health of the device (testing), prepare for launch and enter the route task [Modular multi-seat ship launcher for vertical launch / Patent RU 2213925. M .: FIPS, 2003. Bull. No. 28], [A.V. Novikov Integrated missile system Club-N. Handling missiles on a ship. St. Petersburg: VMI, 2004. - 64 s].

On promising submarines, it is planned to place the storage and launch systems of underwater vehicles outside the solid hull. For this, in addition to the tasks of their placement, loading, storage and maintenance, it is necessary to solve the problems of prelaunch preparation, launch and separation of underwater vehicles from the carrier. [Efimov OI, Krasilnikov EP, Shavyrin I.A., Yurin V.F. Outboard weapons modules for submarines: possible solutions // Defense order No. 18, 2008. Internet application, www.ozakaz.ru].

For prelaunch preparation and launch of a PA from a ship, communication with its control system is carried out through a device with electrical data input, the reliable operation of which in water is ensured by sealing, which complicates the design of the device and increases its overall dimensions, which is a significant drawback. The elimination of this drawback is possible when switching to contactless communication devices based on the use of optical (laser) or acoustic energy. [O.A. Bukin et al. Elements of laser sensorics in underwater robotics // Underwater Research and Robotics, 2017, No. 1 (23). S. 23-30].

It is known that the effectiveness of PA is significantly increased when using remote control. Remote or telemechanical control systems (telecontrols) of the PA appeared in the 1960s. The telecontrol system device includes a PA control channel, a target control channel, and a PA control channel. To control the PA and the target, acoustic means are used that have a relatively long range in water. The control signals are generated on the carrier by a calculating device or operator and transmitted to the PA via the control channel. To separate them and protect against interference, encryption and encryption are used. The control commands are transmitted in the air via radio engineering and / or laser communication lines, and in water - via wired and / or hydraulic. [A.V. Novikov. Anti-submarine missile weapons. Theoretical basis. St. Petersburg: VMI, 2007 .-- 437 s, p. 172].

The PA control channel device includes a towed carrier coil and a PA coil connected to each other with a wire or fiber optic cable (FOC) wound around them. The simultaneous unwinding of a wire or wok from these coils during mutual movement of the carrier and the PA protects the communication line from a break. In this case, the carrier coil is made in two versions: in the form of a “coil” or in the form of a “hose” - a flexible protective casing, through which the wire or wok moves out of the container fixed in the launcher together with the hose [B.A. Koptev, A.L. Gusev. Development Trends of Foreign Torpedo Weapons // Marine Radioelectronics, No. 3, 2006. P. 58-63], [M. Klimov. On the appearance of modern submarine torpedoes // Arsenal of the Fatherland, No. 1 (15), 2015], [Patent US 7574971. TORPEDO MOUNTED DISPENSER INCORPORATING A SHOCK MOUNT BUMPER, 2009].

The control channel device shown above involves the use of a wired connection between the ship and the underwater vehicle, and the presence of a transport and launch container in which the underwater vehicle is stored does not ensure its integrity after the underwater vehicle leaves it.

Requires the elimination of the identified deficiencies noted above in existing devices and including:

- the difficulty of implementing electrical data input into the receiving device of the launch vehicle or underwater vehicle stored on an underwater craft in its outboard storage and launch system,

- the inability to use the existing telecontrol system of an underwater vehicle, located on a ship in its storage and launch system in a transport and launch container.

An object of the invention is the development of a transport and launch container for an underwater vehicle, intended for use from a ship, including with outboard storage, and providing testing, preparation for launch and input of the route task, launch and remote control of the underwater vehicle on the route and a method for controlling the underwater device stored on a ship in a transport and launch container.

The technical problem of the invention is achieved due to the fact that the transport and launch container for the underwater vehicle, including a rigid body, equipped with at least one lid, used to load the underwater vehicle inside and release it outside, their closing and opening mechanisms, devices for attaching the underwater vehicle and its movement in the container, energy device for pushing the underwater vehicle out of the container, current source, temperature, pressure and humidity sensors, heating device and fan p, according to the invention, the container is additionally equipped with a non-contact laser or acoustic device for communication with the storage system and launch of the craft and a device for communication with the onboard control system of the underwater vehicle, providing testing of the underwater vehicle, preparation for launching and input of the route task, devices included remote control systems for the underwater vehicle and including a towed carrier coil, fastened to the container in a single structure and connected to the storage system and launching the vehicle using flexible communication, a wire or fiber optic cable wound around it having two sealed electrical or optical connectors, one of which is attached to the storage and launch system of the vehicle, and the other to the connector of the wire or fiber-optic cable of the carrier beacon coil, carrier beacon, bonded to a towed carrier coil and container in a single design and having a current source, signal converter, transceiver, encoder, decoder, antenna and cable with a wire or fiber-optic cable wound around it, having sealed electrical or optical connectors at the ends that are connected on one side to a carrier beacon signal converter, and on the other hand, with a wire or fiber-optic cable connector of a towed carrier coil, underwater beacon fastened with it in a single design and having a current source, signal converter, transceiver, encoder, decoder, antenna and coil with a wire or fiber optic wound around it cable, having sealed electrical or optical connectors at the ends, connected on one side to the beacon signal converter of the underwater vehicle, and on the other hand, to the cable or fiber optic cable of the underwater vehicle’s coil, the underwater vehicle’s coil located inside its body on it with a wire or fiber optic cable having sealed electrical or optical connectors at the ends that are connected on one side to the onboard control system of the underwater vehicle, and on the other hand, with a wire or fiber optic cable connector for the beacon coil of an underwater vehicle.

The invention is illustrated by drawings, where:

in FIG. 1 shows a TPK device;

in FIG. 2 shows a PA device;

in FIG. 3 shows the release of TPK from a carrier;

in FIG. 4 illustrates the process of separating a towed coil and a beacon from a TPK;

in FIG. 5 shows the PA exit from the TPK and bringing the carrier beacon to the operating position;

in FIG. 6 shows the separation of a PA beacon from a PA;

in FIG. 7 shows a diagram of the operation of the remote control system of the underwater vehicle.

In the figures, the numbers denote: 1 - TPK, 2 - a sealed electrical or optical connector, used for attaching a flexible connection of the towed carrier coil to the storage and launch system of the craft, 3 - flexible connection with a wire or wok (cable-cable), 4 - sleeve for wire or wok passage, 5 - towed carrier coil with wire or wok, 6 - carrier beacon, 7 - carrier beacon coil with wire or wok, 8 - wire or wok, 9 - sealed electrical or optical connector for connecting wire or wok, 10 - attachment point of the towed coil n CITEL to TPK, 11 - Cover TPK, 12 - the underwater vehicle.

In FIG. 2 shows a PA device, the numbers indicate: 4 - a sleeve for the passage of a wire or wok, 8 - a wire or wok, 9 - a sealed electrical or optical connector for connecting a wire or wok, 12 - PA, 13 - BSU, 14 - a PA coil with a wire or wok, 15 - tube for passage of wire or wok inside the PA, 16 - stabilizer and controls PA, 17 - beacon PA, 18 - coil beacon PA with wire or wok, 19 - mount beacon PA to PA, 20 - mover PA.

The underwater vehicle is prepared on the base, before loading it into the TPK, they connect the PA BSU communication line with the PA beacon, which is part of the PA control channel of the telecontrol system, for which:

- a sealed electrical or optical connector connect to the BSU 13 wire or wok coil PA 14,

- using a sealed electrical or optical connectors connect to the wire or the wok of the coil beacon PA 18 the second end of the wire or wok of the coil PA 14,

- the other end of the wire or wok of the PA 18 beacon coil is connected to the PA 17 beacon transceiver.

Thus prepared PA is installed in the TPK and delivered to the carrier, where it is loaded into its storage and launch system. After loading the TPK from the PA to the carrier, a non-contact communication line of the vehicle control system with the TPK and BSU of the PA is installed, as well as wired communication lines of the PA control channel of the PA telecontrol system, for which:

- one end of the wire or wok of the towed carrier coil 5, mounted on the TPK with an easily removable mount 10, is connected using a sealed electrical or optical connector 2 to the control system of the craft, and the other end is connected to the wire or wok of the beacon coil of carrier 6 mounted on the carrier coil with using easily removable fasteners, the other end of the wire or the wok of the coil 7 of the beacon of the carrier using sealed electrical or optical connectors is connected to the transceiver device of the beacon of the carrier 6;

- the towed coil of the carrier 5 is attached to the carrier by a flexible connection (cable-cable) 3.

The TPK loaded with the vehicle is stored for a specified period of time, while the specified microclimate parameters are provided inside the TPK due to the remote control of heating and ventilation of the TPK internal space according to the temperature, pressure and humidity sensors entering the control system of the carrier vehicle through the non-contact device receiving and transmitting information. When preparing a TPK with a PA for launch, using the control system of a watercraft and a device for contactless reception and transmission of information, test the performance of the PA and enter the route task into its BSU, after which, using the power device used in the storage and launch system of the PA, launch the TPK with PA [Patent RU 2606150. The method of operation of underwater vehicles / G.N. Korneev, A.V. Novikov, O.E. Rogulsky. M .: FIPS, 2017. Bull. No. 1].

A known method of controlling a PA using telecontrol and homing modes, in which the carrier is prepared for launch, is released from the starting device, the remote control of the PA is carried out using a wired communication line until the target is captured by the homing system of the PA, after which the homing mode is switched on at the operator’s command [ V.V. Surnin, Yu.N. Pelevin, V.L. Stockings. Antisubmarine assets of foreign fleets. - M .: VI, 1991.128 s. S. 79], selected as a prototype.

Remote control using a wired communication line is carried out using a towed carrier coil and a PA coil, on which a wire or wok is wound [B.A. Koptev, A.L. Gusev. Development Trends of Foreign Torpedo Weapons // Marine Radioelectronics, No. 3, 2006. P. 58-63], [M. Klimov. On the appearance of modern submarine torpedoes // Arsenal of the Fatherland, No. 1 (15), 2015], [Patent US 7574971. TORPEDO MOUNTED DISPENSER INCORPORATING A SHOCK MOUNT BUMPER, 2009]:

The PA control channel device includes a towed carrier coil and a PA coil connected to each other with a wire or fiber optic cable (FOC) wound around them. The simultaneous unwinding of a wire or wok from these coils during mutual movement of the carrier and the PA protects the communication line from a break. In this case, the carrier coil is carried out in two versions: in the form of a “coil” or in the form of a “hose” - a flexible protective casing, through the internal cavity of which a wire or wok moves, exhausted from the container fixed in the launcher together with the hose.

This control method of the user agent does not provide for its use for user agents stored in the TPK, since it does not ensure the safety of the wired communication line. This method does not allow the control of the user agent stored in the TPK, since it does not ensure the integrity of the wired communication line between the carrier and the user agent after it leaves the TPK, which is its drawback.

An object of the invention is the development of a method for controlling an underwater vehicle stored in a ship in a transport and launch container.

The technical problem of the invention is achieved due to the fact that the control method of the underwater vehicle, in which the storage conditions of the underwater vehicle are monitored, test the underwater vehicle before launch and make sure that it is operational, enter the route task into its on-board control system, launch the underwater vehicle, and carry out remote control underwater vehicle using a wired communication line, according to the invention, use an underwater vehicle stored in a transport and launch container, control storage conditions of the underwater vehicle, its testing and preparation for launch is carried out using a contactless communication device installed on the transport and launch container, the underwater vehicle is removed from the transport and launch container at a safe distance from the vehicle by self-exit or through the use of buoyancy force after the container is launched separated from it together with the towed carrier coil of the carrier beacon, which are interconnected with the boat and a wire or fiber optic cable, carry out the beacon of the carrier to the surface, unwinding the wire or fiber-optic cable from the towed carrier coil and the carrier beacon coil, thereby preventing its rupture due to movement in the space of the craft and the carrier beacon, after the underwater vehicle leaves the container, the underwater vehicle beacon is disconnected from it, carry out its ascent to the surface and, by unwinding the wire or fiber optic cable from the coil of the underwater vehicle and the coil of the beacon of the underwater vehicle and prevent its rupture due to spatial movement of the underwater vehicle and its beacon, beacon after surfacing vehicle and beacon of the underwater surface is set between radio communication and remote control of underwater vehicle.

The interaction of the craft with the underwater vehicle, the release of the TPK from the carrier, the formation of the communication lines of the PA telecontrol channel and its movement along the trajectory are shown in FIG. 3-7. The numbers indicate: 1 - TPK, 3 - flexible connection (cable-cable), 5 - towed carrier coil with wire or wok, 6 - carrier beacon, 7 - carrier beacon coil with wire or wok, 8 - wire or wok, 9 - sealed electrical or optical connector for connecting a wire or wok, 11 - TPK cover, 12 - underwater vehicle, 17 - PA beacon, 18 - PA beacon coil with wire or wok, 21 - sea surface, 22 - beacon antenna, 23 - movement path PA, 24 - radio link between buoys 6 and 17. After the release of TPK 1, the towed coil is separated from the carrier from it carrier 5, attached to the watercraft using flexible communication (cable-cable) 3, as well as the beacon of carrier 6 with coil 7 (Fig. 4). As the carrier is removed from the TPK, the wire or wok 8 is unwound from these coils, ensuring the integrity of the carrier’s communication line with the beacon 6.

After a predetermined time, corresponding to the removal of TPK 1 from the carrier at a safe distance, the mechanism for opening its cover or covers 11 is activated, and under the influence of the thrust of its propulsion device or using an ejecting energy device, PA 12 is released from the TPK (Fig. 5). After exiting the TPK, the PA starts moving along a given route under the control of the BSU. As the speed of movement increases from PA, the PA 17 beacon is separated and, under the action of positive buoyancy, floats to the surface of the water (Fig. 6), while the wire or FOC 8 connecting the PAU BSU 13 to the PA 17 beacon is unwound from the PA 14 coil (Fig. 2 and 7) and PA beacon coils 18, ensuring the integrity of the communication line of PA 17 beacon with PA BS 13. After the PA 17 beacon has surfaced to the surface (Fig. 7), a radio link 24 is formed between buoys 6 and 17. Control commands are generated on the carrier and transmitted by wire or wok to carrier beacon 6, g they are converted into a radio signal, encrypted, encoded and transmitted over the radio 24 to the PA 17 beacon, where they are recognized and converted into control signals transmitted by wire or FOC to PA 12. The close relative position of the beacons 6 and 17 from each other, due to their ascent near the place of TPK release from the carrier does not require the high power of their signals for communication, which increases the secrecy of their work. The remote control range of the PA is determined by the supply of wire or wok.

The technical result of the invention is the development of a transport and launch container for an underwater vehicle, stored in the storage and launch system of the craft, including outside the solid hull of the underwater craft, and providing testing of the underwater vehicle, preparing it for launch, entering the route task, starting and remote control on the route of movement, and a method for controlling an underwater vehicle stored in a ship in a transport and launch container.

Claims (2)

1. Transport and launch container for an underwater vehicle, comprising a rigid body equipped with at least one lid used to load the underwater vehicle in and out, mechanisms for their closing and opening, devices for attaching the underwater vehicle and moving it in the container, energy device for pushing the underwater vehicle out of the container, current source, temperature, pressure and humidity sensors, heating device and fan, characterized in that the container is additionally equipped I have a non-contact laser or acoustic device for communication with the storage and launch system of the vehicle and a device for communication with the onboard control system of the underwater vehicle, which provide testing of the underwater vehicle, preparation for launch and input of the route task, devices that are part of the remote control system of the underwater vehicle and include towed a carrier coil, fastened with a container in a single design and connected to the storage and launch system of the craft using flexible communication, wound a wire or fiber-optic cable having two sealed electrical or optical connectors on it, one of which is attached to the storage and launch system of the craft, and the other to the connector of the wire or fiber-optic cable of the carrier beacon coil, carrier beacon attached to a towed carrier coil and a container in a single design and having a current source, signal converter, transceiver, encoder, decoder, antenna and coil with a wire or fiber optic wound around it it with a cable having sealed electrical or optical connectors at the ends, connected on one side with a carrier beacon signal converter, and on the other with a cable or fiber optic cable connector of a towed carrier coil, an underwater vehicle beacon attached to it in a single structure and having current source, signal converter, transceiver, encoder, decoder, antenna and coil with a wire or fiber optic cable wound around it having sealed electric optical or optical connectors that are connected on the one hand with the beacon signal converter of the underwater vehicle, and on the other, with the connector of the wire or fiber-optic cable of the underwater vehicle’s coil, the underwater vehicle’s coil located inside its body with a wire or fiber-optic wound on it a cable having sealed electrical or optical connectors at the ends, connected on the one hand to the onboard control system of the underwater vehicle, and on the other, to the cable or fiber optic connector about the cable coil of the beacon of the underwater vehicle. 2. A control method for the underwater vehicle, in which the storage conditions of the underwater vehicle are monitored on a watercraft, the underwater vehicle is tested before start-up and convinced of its serviceability, a route task is entered into its onboard control system, the underwater vehicle is launched, the underwater vehicle is remotely controlled using a wire line communication, characterized in that they use an underwater vehicle stored in a transport and launch container, control of the storage conditions of the underwater vehicle, its testing and its preparation for launch is carried out using a contactless communication device installed on the transport and launch container, the underwater vehicle is withdrawn from the transport and launch container at a safe distance from the vehicle by self-exit or through the use of buoyancy force, after the container is launched, it is separated from it together with the towed coil carrier beacon carrier, which are interconnected with a ship wire or fiber optic cable, carry out the ascent of the carrier beacon to the surface unwinding a wire or fiber-optic cable from a towed carrier coil and a carrier beacon coil, thereby preventing its rupture due to movement in the space of the craft and carrier carrier beacon, after the underwater vehicle leaves the container, the underwater vehicle beacon is disconnected from it, it is surfaced to the surface and by unwinding a wire or fiber-optic cable from the coil of the underwater vehicle and the coil of the beacon of the underwater vehicle, prevent its rupture due to spatially movement of the underwater vehicle and its beacon, beacon after surfacing vehicle and beacon of the underwater surface is set between radio communication and remote control of underwater vehicle.

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