WO2018172547A1

WO2018172547A1 - System for storing a submarine device such as a drone, and for keeping said device in operational condition

Info

Publication number: WO2018172547A1
Application number: PCT/EP2018/057535
Authority: WO
Inventors: Arnaud TROUVE; Jérôme TISSERAT
Original assignee: Naval Group
Priority date: 2017-03-23
Filing date: 2018-03-23
Publication date: 2018-09-27
Also published as: FR3064245A1; FR3064245B1

Abstract

This submerged system (54) for storing a submarine device (50) such as a drone, and for keeping said device in operational condition, is characterized in that it comprises means forming a stand base on which are provided bell-shaped means for receiving the submarine device (50) in a storage position, and means (59) for replacing an interchangeable functional module of the submarine device (50) with a replacement module.

Description

System for storing and maintaining in operational condition an underwater vehicle such as a drone

The present invention relates to a submerged system for storing and maintaining in operational condition an underwater vehicle such as a drone.

Underwater vehicles such as drones are increasingly used in particular for the control, monitoring and inspection of submerged facilities.

For example, such submarine gear is used in sectors such as the offshore oil and gas industry, in the underwater mining industry, in coastal and maritime surveillance operations, and even in scientific ocean observatories.

At present, operational maintenance operations of this type of gear require the recovery of this craft on the surface, for example on board a platform such as a support ship, where the operations of refurbishment of the machine are performed.

This allows for example on the one hand to clean the underwater vehicle and its various sensors, and on the other hand to recharge its power supply batteries.

However, it is conceivable that these recovery operations are relatively restrictive, time consuming and expensive.

Moreover the configuration of the machine is fixed and its missions are defined by the hardware embedded from the beginning.

The object of the invention is therefore to solve these problems.

For this purpose, the subject of the invention is an immersed system for storing and maintaining in operational condition an underwater vehicle such as a drone, characterized in that it comprises means forming a base plate on which provided bell-shaped means for receiving the underwater vehicle in storage position and means for replacing an exchangeable functional module of the underwater vehicle by a replacement module, in that it comprises a receiving magazine of several replacement modules, in the form of a rack extending along the receiving means of the underwater vehicle and in that it comprises means for pushing the modules to extract a module of the machine and push a replacement module of the rack in the machine.

According to other features of the system according to the invention, taken alone or in combination: - The rack comprises receiving trolleys modules movable in front of the underwater vehicle, and at least one is empty to receive the module extracted from the machine and at least one other has a replacement module to engage in the craft;

the thrust means comprise a jack;

the underwater vehicle and the module comprise complementary means in the form of slides for extracting and engaging the module laterally of the machine;

the underwater vehicle and the module comprise complementary means of electrical connection by engagement;

the underwater vehicle and the module comprise complementary locking means in position movable by actuating means between locking and unlocking positions to allow the replacement thereof;

the bell-shaped means for receiving the underwater vehicle and the underwater vehicle comprise complementary means for guiding and centering the vehicle in position.

The invention will be better understood on reading the description which follows, given solely by way of example and with reference to the appended drawings, in which:

FIG. 1 represents a perspective side view with parts in transparency, of a submerged storage and maintenance system in operational condition,

FIGS. 2 and 3 represent partial views of this system illustrating the operation of input and output gate means of this system,

FIG. 4 represents a detail view illustrating an exemplary embodiment of means forming a cradle for receiving an underwater vehicle, forming part of the constitution of such a system,

FIG. 5 represents a detailed view of means in the form of a clamp for holding the machine in position in such a structure,

FIG. 6 represents a perspective view of an exemplary embodiment of an underwater vehicle,

FIG. 7 illustrates the operation of filling / emptying means forming part of the constitution of such a system,

FIG. 8 illustrates the structure and operation of the contactless inductive coupling means forming part of the constitution of such a system, - Figure 9 illustrates the structure and operation of power supply means forming part of such a system;

FIG. 10 illustrates an exemplary embodiment of an underwater vehicle such as a drone equipped with an interchangeable module;

FIG. 11 illustrates a system for receiving such a drone equipped with an interchangeable module, according to the invention, with parts torn off and in transparency, showing the structure and the operation of complementary means for guiding and centering position of the machine in the structure;

FIG. 12 illustrates a schematic exemplary embodiment of an exchangeable module;

FIG. 13 illustrates the implementation of a replacement module receiving magazine in a system according to the invention;

FIG. 14 represents a detailed view of an exemplary embodiment of such a magazine;

FIG. 15 illustrates the operation of means for replacing a functional module of an underwater vehicle, forming part of the constitution of a system according to the invention; and

- Figure 16 shows complementary locking means in position of the module and the machine.

In these figures, and in particular in FIG. 1, a submerged system for storing and maintaining in operational condition an underwater vehicle such as a drone has indeed been illustrated.

The system is designated by the general reference 1, while the underwater vehicle is designated by the general reference 2.

In general and as illustrated, such a system comprises means forming a base base, designated by the general reference 3, on which are provided bell-shaped means for receiving the underwater vehicle 2, in position storage, these bell-shaped means being designated by the general reference 4.

This system also comprises means for filling / emptying these bell-shaped means 4, using for example a preservation fluid of the underwater vehicle 2.

These means of filling / emptying these means will be described in more detail later.

Such a system 1 is intended to be immersed and for example to rest on the bottom such as the seabed. It is then used to carry out basic operations for maintaining operational condition of the underwater vehicle 2, such as, for example, recharging means for storing electrical energy therefrom or exchanging functional modules thereof. ci, as will be described in more detail later.

For this purpose and more particularly, the bell-shaped means 4 thereof have for example at one end, means forming a door allowing the underwater vehicle 2 to enter and exit bell-shaped means 4.

In fact, these door means are designated by the general reference 5 in these Figures 1 to 3, and are for example in the form of an articulated door deployable between a retracted position, illustrated in Figure 2, and an active position. deployed, illustrated in Figure 3.

In the retracted position, that is to say when the door is open, the underwater vehicle 2 can then enter the bell-shaped means 4 to be stored therein.

Once the machine in the storage position in the bell-shaped means 4, the door can then be closed.

As indicated above, the system comprises means for receiving the underwater vehicle 2 in the storage position.

An exemplary embodiment of these receiving means is illustrated in these figures and in particular in FIGS. 1, 4 and 5.

These reception means comprise in fact elongated means forming a cradle for receiving the underwater vehicle 2 in the storage position.

These cradle means are designated by the general reference 6 in these figures.

In fact and as illustrated in particular in FIG. 1 and in FIG. 4, these cradle means 6 comprise an elongated tubular element, designated by the general reference 7, comprising at one of its ends, that is to say at the end opposite the means forming a door 5 of the bell 4, a guide cone of the machine in the storage position therein.

In these figures, the cone is designated by the general reference 8.

At the other of its ends, that is to say the end opposite to the entrance of the bell 4, the means forming a home cradle comprise a front stop cap for the front end of the machine submarine 2.

This cap is for example designated by the general reference 9 in these figures and is connected to the rest of the system for example by means of damping means designated by the general reference 10. These damping means comprise for example a block of elastically deformable material.

In its intermediate part, this tubular element, constituting the means forming a cradle for receiving the underwater vehicle, comprises means in the form of a clamp for holding the machine in position.

These clip-shaped means are designated by the general reference January 1 in these figures and are illustrated in detail in Figure 5.

In fact, these clamp-shaped means comprise two gripper legs, respectively 12 and 13, extending on either side of the tubular element 7 receiving means of the underwater vehicle and are actuated for example by means such as a cylinder, designated by the general reference 14, to come to seize the underwater vehicle and hold it in position.

As indicated above, in this storage position, it is possible to provide basic operations for maintaining in operational condition the underwater vehicle 2, such as the recharging of energy storage means for example electric of it or other operations of exchange of information between the machine and the rest of the structure, etc.

For this purpose, non-contact electrical coupling means may be provided between the means forming a home cradle and the underwater vehicle 2.

These coupling means are, for example, inductive coupling means.

An example embodiment of these means has been illustrated, in particular in the figures

4 and 6.

It can be seen in FIG. 4 that the reception cradle means 6 and in particular the tubular element 7 thereof may comprise, for example near its front end, inductive electrical coupling means. , designated by the general reference 15, which are adapted, when the underwater vehicle 2, is in the storage position in these cradle means 6, to extend facing complementary coupling means 16 of the machine submarine 2.

Of course, this makes it possible, for example, to transfer electrical energy to recharge the electrical energy storage means of the underwater vehicle 2 and to ensure an exchange of information between the vehicle and the means. in the form of a cradle 6, for example to retrieve information from the underwater vehicle or, on the contrary, to update information in this underwater vehicle from the rest of the system. It goes without saying of course that other embodiments can still be envisaged.

It is conceivable that this entire structure is intended to allow the reception of the underwater vehicle 2 in storage position in a cradle for receiving a submerged structure, to ensure the preservation thereof and the increase of its operational life.

As has been indicated previously also, it is possible to use a preservation fluid of the underwater vehicle 2, when the latter is in the storage position in the bell-shaped means 4.

This fluid is for example constituted by oil which is intended to be injected into the bell-shaped means 4, to replace the seawater to ensure the preservation of the underwater vehicle 2.

In fact, this preservation fluid can for example be stored in containers or corresponding receiving means, integrated for example in the base forming means 3.

Thus, for example in these figures and in particular in FIGS. 1, 2 and 3, these receiving means consist of tanks, for example flexible and compensated, placed in the base means 3 and one of which is designated by the general reference 17.

As indicated above, this preservation fluid can then be pumped or drained bell-shaped means 4 for receiving the underwater vehicle 2 in the storage position, in order to ensure the preservation thereof.

FIG. 7 diagrammatically illustrates the operation of filling / emptying means for these bell-shaped means 4.

These bell-shaped means are always designated by the general reference

4 in this figure 7, and one of the tanks for example 17, is illustrated.

The means for filling / emptying the bell-shaped means 4 are then associated with means for channeling and circulating the fluid between the bell-shaped means 4 and the tanks for example 17, depending on the filling or drain.

These means then comprise for example pump means, designated by the general reference 18, comprising a pump associated with a motor, and connected by channeling means 19 to the tank 17, and by channeling means 20 to the means in the form of bell 4.

According to the wishes, the motor associated with the pump is then controlled to pump the reservoir fluid in the bell-shaped means or vice versa. It will be noted, as illustrated in these figures, that the bell-shaped means 4 may comprise a buffer volume in their upper part, designated by the general reference 21 in this FIG.

FIGS. 8 and 9 show an exemplary embodiment of the complementary coupling means 15 and 16 by electromagnetic induction, in particular making it possible to transfer electrical energy to the underwater vehicle 2 in order to recharge its means of energy storage.

In these figures, the receiving means 6, the underwater vehicle 2 and the complementary inductive coupling means 15 and 16 are recognized.

These coupling means comprise the inductive electrical coupling means 15 of the cradle means 6 for receiving the underwater vehicle 2 and the complementary coupling means 16 of this underwater vehicle 2.

In fact, the coupling means 15 of the receiving means 6 of the underwater vehicle 2 comprise a transmitting coil, denoted by the general reference 30 in these figures.

This transmitting coil 30 is integrated in a support of the receiving means 6 of the underwater vehicle and is connected to the output of an electric power source of these receiving means, which will be described in more detail by the following.

In fact and as illustrated, this transmitting coil 30 is integrated in a protective envelope, designated by the general reference 31.

This protective envelope 31 has a section of complementary shape to that of the portion of underwater vehicle 2 corresponding.

This protective envelope 31 is for example made of resin.

The complementary means 16 of the underwater vehicle 2 are formed on one of the flanks thereof.

These complementary means 16 then comprise, next to the coupling means of the cradle means 6 and in particular of the transmitting coil 30, a corresponding receiver coil designated by the general reference 32.

For example, this receiver coil consists of Litz wires.

This coil is also embedded in a resin protective casing, such as, for example, that designated by the general reference 33 in this figure 8.

This protective envelope 33 is for example glued on the underwater vehicle 2. It should be noted further that this underwater vehicle may comprise, at the level of the complementary means 16 coupling electromagnetic induction, means forming a protective screen from inside of it against the fields radiated electromagnetic means, these screen means being designated by the general reference 34.

In FIG. 8, a power cable 35 extending between the receiver coil 32 and the remainder of the underwater vehicle 2 and for example the means for storing electrical energy thereof is also recognized to ensure their recharge.

In this same figure 8, a cable 36 for transmitting information is also recognized.

FIG. 9 shows the wiring diagram of these different coils 30 and 32.

It is recognized in fact in this figure 9, the means forming cradle 6 for receiving the underwater vehicle 2.

This FIG. 9 also recognizes the corresponding transmitting coil 30 and the corresponding receiver coil 32.

The transmitter coil 30 is connected to electrical power supply means, designated by the general reference 37.

These power supply means 37 comprise in series an alternating power source, designated by the general reference 38, an AC / DC converter 39, and a DC / AC converter 40 supplying this coil 30.

These converters are associated with control and communication means, designated by the general reference 41, for example to control their operation and to collect information from the underwater vehicle 2.

Inside the underwater vehicle 2, the receiver coil 32 is itself also connected through an AC / DC converter, designated by the general reference 42, to the electrical energy storage means, for example 43 , of the underwater vehicle 2.

It is conceivable that such a structure has a number of advantages over the structures of the state of the art.

Indeed, the submerged system according to the invention makes it possible to store an underwater vehicle, between two missions, in a bath of preserving fluid by protecting it from any contact with the seawater and therefore the effects of corrosion.

The system according to the invention also makes it possible to provide an enclosure for protecting the machine against natural or unnatural external aggressions such as, for example, falling light objects.

Elementary operational maintenance operations of the machine, can also be implemented, such as, for example, the exchange of information or recharging the electrical energy storage means of the underwater vehicle 2, or even the exchange of functional modules thereof, as will be described in more detail below.

This underwater vehicle can then for example be kept for a longer or shorter time, safely in the bell, until his next mission.

To launch this new mission, simply trigger the emptying of the bell 4, open the door 5 thereof and release the underwater vehicle 2, so that it can carry out a new mission until he returns to the protective bell.

FIG. 10 illustrates an embodiment of an underwater vehicle, such as an underwater drone, which also comprises, for example, an exchangeable functional module.

In this figure 10, the underwater vehicle such as the drone, is designated by the general reference 50.

This drone 50 then comprises for example an exchangeable functional module designated by the general reference 51.

Note that this underwater vehicle 50 also comprises, for example in its upper part, a projecting portion, as designated by the general reference 52.

This protruding part is adapted, as illustrated in FIG. 11, to cooperate with complementary guide means, for example 53, of the receiving system, to ensure correct guiding and centering in position of the machine in the structure, so that it is in an optimal position to allow the replacement of the functional module 51 by a replacement module.

In the exemplary embodiment shown in this FIG. 11, the complementary means of the structure designated by the general reference 54 in this figure comprise, for example, convergent guide rails, for example in elongated V, adapted to guide the machine. , guiding the projecting portion 52 thereof, when the machine 50 enters the structure.

As indicated above, the underwater vehicle 50 may comprise at least one exchangeable functional module 51.

FIG. 12 illustrates an exemplary embodiment of such a module.

This then has for example an outer shape complementary to the shape of the underwater vehicle.

The underwater vehicle 50 and this module 51 then also comprise complementary means in the form of slides for extracting and engaging a module laterally in or out of the machine. In this FIG. 12, the module is equipped with slides 55 and 56, provided on the opposite edges of this module 51, and which are therefore adapted to cooperate with complementary means in the form of slides of the machine, to allow the extraction and the lateral positioning of this module 51 in or out of the machine.

This module 51 and the machine also comprise, for example, complementary electrical connection means by engagement.

These connection means of the module 51 are for example designated by the general references 57 and 58 in this figure 12.

The underwater vehicle also has complementary electrical connectors.

During the engagement of the module 51 in the underwater vehicle 50, these connectors then come into contact with each other, for example by engagement one into the other, to ensure the connection for example electrical of the module and the rest of the underwater vehicle.

As indicated above, the receiving system 54 comprises not only the bell-shaped means for receiving the underwater vehicle in the storage position, but also means for replacing at least one exchangeable functional module of this underwater vehicle, by a replacement module.

In this case, this receiving system 54 comprises for example at least one receiving magazine of several replacement modules, as shown in FIG. 13.

In this Figure 13, these store-shaped means are designated by the general reference 59, and are then formed by a receiving store of several replacement modules, extending along the receiving means of the underwater vehicle .

In fact, in the illustrated example, this magazine 59 is in the form of a rack comprising several modules receiving carriages, movable in front of the underwater vehicle.

These carriages are shown in more detail in FIG.

It can then be seen from the light of this FIG. 14 that several carriages, such as for example carriages 60, 61, 62 and 63, are provided in this magazine rack 59 and that these carriages are movably mounted therein, for example via motorization means 64. This then makes it possible, by controlling these motorization means 64, to bring one of the reception trolleys and in particular the empty receiving trolley 61, opposite the exchangeable module 51 of the underwater vehicle 50 into the structure 54. .

Thrust / traction means are then adapted to extract the module 51 from the machine and deposit it in the empty carriage 61 of the magazine.

Another carriage and another module can then be brought, by control of the drive means 64, opposite the corresponding location of the underwater vehicle, to allow to engage a replacement module therein.

This is for example achieved by means of the thrust / traction means such as an actuator comprising a thrust cylinder, such as that illustrated in FIG. 15 and designated by the general reference 65.

This figure shows, in fact, the thrust actuator 65 which pushes a replacement module, for example 66, contained in the carriage 60, into position in the underwater vehicle 50.

It is conceivable that these means can extract a module from the machine and push a replacement module of the rack in it to replace the extracted module.

All of these operations are automated.

Naturally, different modes and embodiments of the elements which have just been described can be envisaged.

It will also be noted, for example, in FIG. 16, that the underwater vehicle 50 and the exchangeable module, for example 66, may comprise, for example, additional locking means in position, designated by the general reference 67.

These locking means 67 are displaceable by actuating means such as the actuating means 68, between locking and unlocking positions to allow the module to be locked in position, when the machine is in use, or when the machine is in use. unlike unlock this module, to allow its replacement as described above.

It is conceivable then that such a structure has a number of advantages insofar as it is possible to replace a module in such an underwater vehicle and in a submerged structure and automatically.

This then makes it possible, in the case where the module is an energy storage module, to ensure its replacement and thus to prepare the machine for a new mission with charged energy storage means. Of course, exchangeable modules with different functionalities can also be envisaged, which then makes it possible to change the configuration of the drone and the missions that it can accomplish in time without raising the drone to the surface.

Of course other embodiments can still be envisaged.

Claims

1. - System (54) immersed storage and maintenance in operational condition of an underwater vehicle (50) such as a drone, characterized in that it comprises means forming a base plate (3) on which are provided bell-shaped means (4) for receiving the underwater vehicle (50) in the storage position and means (59, 60, 61, 62, 63, 64, 65) for replacing a functional module exchangeable (51) of the underwater vehicle (50) by a replacement module (66), in that it comprises a magazine (59) for receiving a plurality of replacement modules, in the form of a rack extending along the receiving means of the underwater vehicle and in that it comprises means (65) for pushing the modules to extract a module from the machine and push a replacement module of the rack in the craft.

2. - System according to claim 1, characterized in that the rack comprises carriages (60, 61, 62, 63) for receiving the modules (66) movable in front of the underwater vehicle (50), and of which at least one (61) is empty to receive the module (51) extracted from the machine (50) and at least one other (60) comprises a replacement module (66) to engage in the machine.

3.- System according to claim 1 or 2, characterized in that the thrust means (65) comprise a jack.

4. - System according to any one of the preceding claims, characterized in that the underwater vehicle (50) and the module (51, 66) comprise complementary means in the form of slides (55, 56) for extract and engage the module laterally of the machine.

5. - System according to any one of the preceding claims, characterized in that the underwater vehicle (50) and the module (51) comprise complementary means (57, 58) of electrical connection by engagement.

6. - System according to any one of the preceding claims, characterized in that the underwater vehicle (50) and the module (66) comprise complementary means (67) for locking in position movable by actuating means (68) between locking and unlocking positions to allow replacement thereof.

7. System according to any one of the preceding claims, characterized in that the bell-shaped means (4) for receiving the underwater vehicle and the underwater vehicle comprise complementary means (52, 53 ) guiding and centering in position of the machine.