WO2021244863A2 - Sonar remorqué à profondeur variable et son procédé de fonctionnement - Google Patents

Sonar remorqué à profondeur variable et son procédé de fonctionnement Download PDF

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Publication number
WO2021244863A2
WO2021244863A2 PCT/EP2021/063558 EP2021063558W WO2021244863A2 WO 2021244863 A2 WO2021244863 A2 WO 2021244863A2 EP 2021063558 W EP2021063558 W EP 2021063558W WO 2021244863 A2 WO2021244863 A2 WO 2021244863A2
Authority
WO
WIPO (PCT)
Prior art keywords
watercraft
depth
sonar
immersion body
sensor
Prior art date
Application number
PCT/EP2021/063558
Other languages
German (de)
English (en)
Other versions
WO2021244863A3 (fr
Inventor
Peter Hauschildt
Original Assignee
Thyssenkrupp Marine Systems Gmbh
Thyssenkrupp Ag
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Thyssenkrupp Marine Systems Gmbh, Thyssenkrupp Ag filed Critical Thyssenkrupp Marine Systems Gmbh
Priority to EP21728862.0A priority Critical patent/EP4161826A2/fr
Publication of WO2021244863A2 publication Critical patent/WO2021244863A2/fr
Publication of WO2021244863A3 publication Critical patent/WO2021244863A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • B63B21/663—Fairings
    • 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
    • B63G9/00—Other offensive or defensive arrangements on vessels against submarines, torpedoes, or mines
    • B63G2009/005—Other offensive or defensive arrangements on vessels against submarines, torpedoes, or mines of sonic watch equipment, e.g. low-frequency or sonar

Definitions

  • the invention relates to a towing sonar which can be towed behind a watercraft to detect sound, at least the area of the towing sonar with the hydrophones being able to be brought into different water depths in an adjustable manner.
  • Conventional towing sonars usually have a buoyancy-neutral receiving antenna with hydrophones, the running depth (towing depth) of which is set by the length and / or the density of the towing cable deployed and the speed of the tugboat.
  • the running depth is always a compromise between the coverage of the water column and the maximum horizontal detection range.
  • thermocline acts like a reflective horizontal partition for sonar location, whereby the water-borne sound is deflected into a series of curves that curve up to the surface of the water and the seabed.
  • sonars can only locate on the side of the thermocline on which they are located. Convergence zones are created in particular by the fact that sound beams in the water are bent in such a way that blind zones and zones with compression are created. While the compaction effect enables occasionally higher localization ranges, the blind or shadow zones prevent continuous localization.
  • a watercraft can travel in waters of different depths.
  • shallow regions near the coast for example also in the Baltic Sea, the shallow water depth means that a towed sonar should be towed in a comparatively shallow water depth.
  • deep water for example in areas of the North Sea or the Atlantic, it can be advantageous to drag the tow sonar at a shallow or greater depth.
  • a drum for a towed antenna is known from DE 10 2016 109 108 A1
  • a towing sonar with a first antenna and a second antenna is known.
  • Antennas can be used in different water depths via coupling elements.
  • a device for positioning seismic equipment in a predetermined underwater position is known from US Pat. No. 5,532,975 A.
  • a towed body with a variable-angle rudder is known from WO 2019/121743 A1.
  • a device for checking a towed cable is known from US Pat. No. 3,605,647 A.
  • a device for automatically coupling and uncoupling a towed sonar is known from WO 2008/043823 A1. For reasons of durability and ease of use, it is desirable to be able to reach different water depths in a simple manner and without manual conversion.
  • the object of the invention is to provide a towing sonar that can be operated easily at different water depths without having to change the length of the towing cable or the towing speed or the diving depth of a towing watercraft.
  • the watercraft according to the invention has a tow sonar.
  • the drag sonar can be picked up by a drum, for example.
  • the watercraft can pick up and deploy the towing sonar.
  • the tow sonar can be connected to the watercraft, that is to say, for example, brought to the place of use with the help of another vehicle and deployed behind the watercraft and connected to it.
  • This embodiment is particularly preferred in the case of small watercraft, very particularly in the case of unmanned watercraft.
  • submarines which, due to the mission, are connected to a tow sonar that cannot be picked up by the submarine, in particular before the mission in the port. This has the advantage that space and weight can be saved in the submarine.
  • the towing sonar is permanently arranged behind the submarine, which must also be taken into account when navigating.
  • All watercraft that are used in particular to combat submarines can be considered as watercraft.
  • ASW Anti Submarine Warfare
  • it concerns cruisers, destroyers, frigates, corvettes and submarines as well as unmanned watercraft.
  • the tow sonar can also be pulled by other ships in the formation.
  • an unmanned vehicle can be deployed as a signal transmitter from a ship and the towing sonar can be connected to the ship. In this way, you often get a higher detection probability of submarines in the area without revealing your own position. If the data cannot then be evaluated directly on the watercraft, they can then also be transferred to another further watercraft, in particular to another watercraft with an active sonar.
  • the towing sonar has a pull cable area and an antenna area.
  • the towing sonar can preferably also have an end cable behind the antenna area. With its flow resistance, the end rope ensures that the towing sonar is as straight as possible.
  • the towed sonar can have a sonar transmission device.
  • the towing sonar can also be used for active sonar procedures.
  • the disadvantage of all active sonar methods is that one's own location is inevitably betrayed by the active emission of sound and thus leads to a hazard for the watercraft. This is therefore particularly preferred when the watercraft is an unmanned watercraft.
  • the pull cable area of the towing sonar is arranged between the watercraft and the antenna area of the towing sonar.
  • the pull cable area creates a distance between the watercraft and the antenna area. This minimizes the influence of the watercraft's own noise on the antenna area.
  • the pull cable area is also there to compensate for a difference in height between the watercraft and the antenna area. In this area, the pull cable area usually runs diagonally through the water, since a difference in height has to be compensated for.
  • the antenna area should be arranged horizontally and as straight as possible.
  • a first immersion body is arranged in front of the antenna area and / or a second immersion body is arranged behind the antenna area.
  • a first immersion body is preferably arranged in front of the antenna area and a second immersion body is arranged behind the antenna area or, very particularly preferably, a first immersion body is arranged in front of the antenna area, particularly preferably a first immersion body is arranged only in front of the antenna area.
  • the immersion body or the immersion body has at least one depth adjustment device. While the depth at which the antenna area is towed is conventionally set via the parameters towing speed of the watercraft, density of the antenna area, density of the pull cable area and length of the pull cable area (often varies over the length delivered by a drum), the immersion body has a Depth setting device, an active setting of the depth is possible at least partially independently of the aforementioned parameters.
  • the immersion body, or the immersion body has at least one first environmental sensor for detecting an environmental measurement variable.
  • An ambient measured variable is a measured variable of the environment, of the surrounding water, for example pressure, temperature, salinity. However, it can also be the speed of sound, for example, which is influenced, for example, by temperature and salt content.
  • An ambient measured variable therefore includes in particular no property, no state or no manipulated variable of the immersion body itself, that is to say, for example, the angle of a rudder.
  • the first environment sensor is selected from the group comprising pressure sensors, salinity sensors, sound velocity sensors, temperature sensors, conductivity sensors, optical sensors, and flow sensors.
  • the first environmental sensor is preferably selected from the group comprising pressure sensors, salinity sensors, sound velocity sensors, temperature sensors,
  • the first environment sensor is particularly preferably selected from the group comprising salinity sensor, sound velocity sensor, temperature sensor, conductivity sensor.
  • stratifications of water with different temperatures or salinity can represent a barrier to sound due to the change at the stratification boundary.
  • the speed of sound in water changes with temperature and salt content, so that reflective layers arise at cracks, so that sound through such layers cannot or at least not reliably be detected.
  • Such layers can even lead to local clouding, so that these layers can even be optically perceptible and detectable. It can therefore be advantageous to directly measure the variable that leads to this effect, for example the temperature or the salt content, in order to stay safely below or above such a stratification, for example below or above a thermocline.
  • the salt content can, for example, be determined either directly, for example using sensors that are selective to sodium ions, or, for example, indirectly using a conductivity detector.
  • a simple depth measurement for example by means of a pressure sensor, is easier to implement.
  • This sensor could be provided redundantly, that is to say twice.
  • An optical sensor in particular an upwardly directed optical sensor, could also determine the diving depth through the absorption of sunlight, in particular in conjunction with a second optical sensor on board the watercraft.
  • a sensor that determines the speed of sound would have the advantage that it would directly record the essential variable, regardless of whether it changes due to a change in temperature or a change in the salt content.
  • a sonar can be used if it is specifically designed to detect the ground. In this way, a safe distance above the ground can be maintained in shallow water, for example. In this way, damage to the drag sonar can be avoided.
  • the immersion body has at least one second environment sensor, the second environment sensor being different from the first environment sensor and the second environment sensor being selected from the group consisting of pressure sensor, salinity sensor, sound velocity sensor, temperature sensor, conductivity sensor, optical sensor, flow sensor, sonar .
  • the watercraft With the watercraft according to the invention, it is possible to use a towing sonar, both in shallow water and in deep water, without this having to be converted, for example, or without significant restrictions in the Cruising speed at different depths comes. It is also possible to use the antenna area of the towing sonar in a targeted manner at a certain water depth, that is to say, for example, optionally above or below a thermocline.
  • the invention thus enables the flexible use of a towing sonar, for example on a frigate, both in deep water, for example in the Atlantic, and in shallow water, for example in the Baltic Sea.
  • the invention can also be used when a submarine is selected as the watercraft, for example, to use the submarine on one side of a thermocline and the antenna area of the towing sonar above or below it on the other side of the thermocline.
  • the depth adjustment device is selected from the group comprising depth rudder and ballast tank.
  • the immersion body preferably has both a depth rudder and at least one, better still two, ballast tanks.
  • the diving body can change the diving depth in a targeted manner. As a result, it pulls the antenna area connected to it to this depth, so that the depth of the antenna area can be selected and set via the immersion body. In this way, the area from which sound can be received can then also be specifically selected.
  • the combination of a down elevator and ballast tank is particularly beneficial, as the down elevator can enable the depth to be changed quickly and in a targeted manner.
  • the diving depth can be kept stable for a long time using a ballast tank.
  • a ballast tank which increases the flow resistance and thus increases the energy consumption of the watercraft and reduces its top speed.
  • the immersion body particularly preferably has only the depth rudder and no ballast tank as a depth adjustment device, since this allows the system to be kept simple and small.
  • the immersion body additionally has a rudder.
  • the antenna area can be shifted laterally parallel to the direction of travel of the watercraft. This has great advantages especially in two application scenarios. In shallow water it is thus possible to close the antenna area from the wake of the towing watercraft remove.
  • this lateral distance between the line of travel of the watercraft and the towing line of the antenna area can mislead a potential enemy about the position of the towing watercraft, since he would expect the towing watercraft in a straight line in front of the actively transmitting towing sonar. Even if a potential enemy takes this possibility into account, there is a significantly increased uncertainty about the position of the towing watercraft, since, for example, it is unclear whether the towing sonar will be pulled to starboard or port.
  • the immersion body has a control device.
  • the control device is designed to read out the first environmental sensor and to control the depth adjustment device.
  • the immersion body can therefore automatically control and, if necessary, actively control a predetermined depth-correlated environmental measurement variable, which can also be the depth itself.
  • the watercraft has a control device.
  • the control device is designed to read out the first environmental sensor and to control the depth adjustment device.
  • the immersion body can be connected to the towing sonar in a reversible and detachable manner.
  • the immersion body is unmanned, particularly preferably autonomous, can be brought to the drag sonar and can be connected to the drag sonar.
  • the tow sonar must therefore be able to be wound onto a drum in a simple form. But it will be in this form technically difficult to arrange an immersion body in a tow sonar.
  • the immersion body is therefore preferably equipped with a drive system and preferably has the shape of a torpedo.
  • the immersion body can be deployed from a weapon barrel.
  • the immersion body can then either be guided by wire or brought autonomously to the towing sonar and coupled to it. In the case of wire steering, the wire is then cut so that the barrel can be closed.
  • the drive system can also be used to change the antenna area even more quickly.
  • the drag sonar runs through the immersion body.
  • the immersion body is reversibly detachable when winding up and reversibly connectable to the towing sonar when winding down. Examples of such compounds are known to the person skilled in the art, for example, from WO 2008/043823 A1, the disclosure content of which is hereby included in its entirety. This is particularly preferred if the watercraft is a submarine. In this case, the immersion body remains outside of the submarine after the towing sonar has been wound up.
  • the pull cable area has a data connection between the watercraft and the immersion body, the immersion body being controllable via the data connection.
  • Data lines run in the towing cable area in order to route the sonar data from the antenna area into the watercraft.
  • the integration of a corresponding data connection for the immersion body is therefore very simple.
  • direct control and thus setting of the immersion depth of the antenna area can also be easily implemented directly from the sonar system.
  • a connection for supplying energy to the immersion body can also be provided.
  • the various systems can be connected to the watercraft via separate energy supplies through the pull cable area, so that control only takes place via the energy provided to the individual systems.
  • a pump in the immersion body can be temporarily supplied with energy, which pumps water out of a ballast tank and thus causes a reduction in the diving depth.
  • a servomotor of a down rudder or rudder can also be supplied with energy in order to bring about the resulting change. The information is thus only transmitted through the transmission of energy.
  • the data connection can be established by an electrically conductive cable. This can be a pure data connection. Alternatively, an energy-carrying line can also be used to transport the data over the same line in addition to the energy transfer.
  • the data connection can also be established by a fiber optic cable.
  • a data connection between the watercraft and the immersion body is established by means of an acoustic modem, the immersion body being controllable via the data connection.
  • the immersion body has an active sonar. This can be advantageous especially if the towing sonar is pulled on a different side of a thermocline than the watercraft is.
  • the watercraft has two towing sonars, of which at least one towing sonar has a diving body, preferably both towing sonars are each equipped with at least one diving body.
  • both towing sonars are each equipped with at least one diving body.
  • the immersion body does not have any gas-filled areas.
  • the first immersion body is preferably completely encapsulated or flushed with water.
  • gas-filled areas By dispensing with gas-filled areas, a sudden change in the speed of sound at the boundary between solid and gaseous is avoided, thus reducing the reflectivity for sound waves and thus the signature of the immersion body.
  • This embodiment is particularly preferred for the passive embodiment. In the case of an active sonar on board the immersion body, it reveals its position by emitting the sound waves, so that signature optimization is unnecessary.
  • the power supply takes place via a power cable in the pull cable area, the power cable having at least four cores and the power cable each having two cores with the same polarity, with cores of opposite polarity being adjacent to one another.
  • the power cable having at least four cores and the power cable each having two cores with the same polarity, with cores of opposite polarity being adjacent to one another.
  • These four wires are arranged at the corners of a square so that wires with the same potential are diagonally opposite one another. This reduces the electromagnetic signature.
  • the invention relates to a method for operating a watercraft according to the invention.
  • the method has the following steps: a) deployment of the towing sonar, b) specification of a depth-correlated ambient measurement variable, c) control of the depth resulting from the depth-correlated ambient measurement variable with the aid of the depth setting device, d) continuous measurement of a measurement variable that is correlated to the depth-correlated ambient measurement variable the first environmental sensor, e) evaluating the measured variable and checking whether a depth adjustment needs to be carried out and, if necessary, actuating the depth setting device.
  • the depth-correlated ambient measured variable specified in step b) can be, for example, the depth itself, an ambient pressure, an ambient temperature, an ambient conductivity or a salt content.
  • the depth-correlated environmental measurement variable can be changed at any point in time, for example in order to continue the search with the drag sonar at a different depth and thus, for example, in a different slice. The method then jumps back to step b), followed by the approach to the new depth in step c).
  • a local change in the measured environmental variable can also be specified with particular preference. This can be advantageous, for example, if the drag sonar is to be arranged, for example, below a first thermocline, that is to say a first strong temperature change layer.
  • thermocline Since the exact position of this thermocline is usually not due to the seasonal changes, for example is exactly known, it can also be specified that the towing sonar should be kept at a depth just below a sudden change in, for example, the temperature or the salinity or the speed of sound. In this case, the towing sonar is lowered until the measured ambient variable has a corresponding predetermined change. This makes it possible to correctly position a towing sonar, even if the exact stratification of the water is not known at first.
  • Steps d) and e) represent a control loop to hold the towing sonar in the desired position.
  • the continuous measurement in step d) does not have to be uninterrupted. Rather, this can also happen in intervals, with the interval lengths being able to be adapted. In particular, the length of the interval can be made dependent on the variability of the measured variable. If there are only very slight fluctuations, measurements are taken, for example, in a minute interval; if more pronounced changes occur, the interval is changed to 10 seconds, for example, or even greater changes to 1 second or uninterrupted.
  • control loop makes it possible, in particular, by specifying, for example, a temperature or a salinity, to remain specifically below or above a stratification, regardless of the water depth at which it is located.
  • the depth profile of the measured variable is determined during step c).
  • the temperature or salinity curves are often only known to a limited extent. It is therefore advantageous to record this profile in the current situation and to be able to use this information to adapt the further mission.
  • the determination of the depth profile can be repeated regularly when the depth changes.
  • a first depth is initially specified and the depth profile of the measured variable is determined during step c).
  • the ideal position for the hydrophones is then determined from this depth profile and then, for example, the temperature or salinity of this position as depth-correlated Ambient metric specified.
  • a sufficiently deep first depth is selected in the first step in order to be sure that the desired transition in the water is passed through and thus measured.
  • the watercraft has a first immersion body and a second immersion body, with coordination for the simultaneous change in depth taking place between the first immersion body and the second immersion body.
  • a watercraft 10 for example a frigate, with a tow sonar.
  • the towing sonar has a pull cable area 30 and an antenna area 40.
  • the towing sonar has a diving body 20, which is shown enlarged in FIG.
  • the immersion body 20 is detachably connected to the antenna area 40 and the pull cable area 30.
  • the immersion body 20 is separated.
  • the immersion body 20 has a down rudder 50 and a rudder 70 as well as a ballast tank 60.
  • FIG. 3 An example of a submarine 12 is shown in FIG. 3.
  • the immersion body 20 is coupled laterally to the drag sonar.
  • the immersion body 20 is deployed separately from the tow sonar via the weapon barrel of the submarine 12 and only coupled under water.
  • a coupling at the water surface is theoretically conceivable when a submarine 12 has surfaced.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

La présente invention concerne un véhicule marin (10) comportant un sonar remorqué, le sonar remorqué présentant une zone de câble de traction (30) et une zone d'antenne (40), la zone de câble de traction (30) du sonar remorqué étant disposée entre le véhicule marin et la zone d'antenne (40) du sonar remorqué. Un premier corps immergé (20) est disposé devant la zone d'antenne (40) et/ou un deuxième corps immergé (20) est disposé derrière la zone d'antenne (40). L'invention est caractérisée en ce que le corps immergé (20) présente au moins un dispositif de réglage de profondeur.
PCT/EP2021/063558 2020-06-04 2021-05-20 Sonar remorqué à profondeur variable et son procédé de fonctionnement WO2021244863A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21728862.0A EP4161826A2 (fr) 2020-06-04 2021-05-20 Sonar remorqué à profondeur variable et son procédé de fonctionnement

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020206996.4A DE102020206996A1 (de) 2020-06-04 2020-06-04 Tiefenvariables Schleppsonar sowie Verfahren zum Betreiben
DE102020206996.4 2020-06-04

Publications (2)

Publication Number Publication Date
WO2021244863A2 true WO2021244863A2 (fr) 2021-12-09
WO2021244863A3 WO2021244863A3 (fr) 2022-02-17

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PCT/EP2021/063558 WO2021244863A2 (fr) 2020-06-04 2021-05-20 Sonar remorqué à profondeur variable et son procédé de fonctionnement

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EP (1) EP4161826A2 (fr)
DE (1) DE102020206996A1 (fr)
WO (1) WO2021244863A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023117684A1 (fr) 2021-12-20 2023-06-29 Koninklijke Philips N.V. Système tire-lait
EP4434553A1 (fr) 2023-03-23 2024-09-25 Koninklijke Philips N.V. Système de tire-lait

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DE19719306A1 (de) 1997-05-07 1998-11-12 Stn Atlas Elektronik Gmbh Schleppkörper
WO2008043823A1 (fr) 2006-10-13 2008-04-17 Thales Dispositif pour l'arrimage et le desarrimage automatique d'un emetteur sonar remorque a une ligne de remorquage d'un sonar actif.
DE102015115693A1 (de) 2015-09-17 2017-03-23 Atlas Elektronik Gmbh Schallwandleranordnung, Schleppsonar, Winde, Schleppschiff und Verfahren zum Ausbringen und Einholen
DE102015116750A1 (de) 2015-10-02 2017-04-06 Atlas Elektronik Gmbh Schallwandleranordnung, Schleppsonar, Winde, Schleppschiff und Verfahren zum Ausbringen und/oder Einholen einer Schallwandleranordnung
DE102016109108A1 (de) 2016-05-18 2017-11-23 Atlas Elektronik Gmbh Trommel für eine Schleppantenne, Winde, Schleppantenne und Wasserfahrzeug
WO2019121743A1 (fr) 2017-12-19 2019-06-27 Thales Poisson à portance hydrodynamique variable de façon réversible et ligne de remorquage comprenant le poisson

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Publication number Priority date Publication date Assignee Title
US4197591A (en) 1958-08-04 1980-04-08 Julius Hagemann Facsimile recording of sonic values of the ocean bottom
US3605647A (en) 1969-04-16 1971-09-20 American Potato Co French fry potato bodies and method and apparatus for forming such bodies
US5532975A (en) 1993-02-23 1996-07-02 Geco A.S. Device and method for positioning of towing systems for use in marine seismic surveys
DE19719306A1 (de) 1997-05-07 1998-11-12 Stn Atlas Elektronik Gmbh Schleppkörper
WO2008043823A1 (fr) 2006-10-13 2008-04-17 Thales Dispositif pour l'arrimage et le desarrimage automatique d'un emetteur sonar remorque a une ligne de remorquage d'un sonar actif.
DE102015115693A1 (de) 2015-09-17 2017-03-23 Atlas Elektronik Gmbh Schallwandleranordnung, Schleppsonar, Winde, Schleppschiff und Verfahren zum Ausbringen und Einholen
DE102015116750A1 (de) 2015-10-02 2017-04-06 Atlas Elektronik Gmbh Schallwandleranordnung, Schleppsonar, Winde, Schleppschiff und Verfahren zum Ausbringen und/oder Einholen einer Schallwandleranordnung
DE102016109108A1 (de) 2016-05-18 2017-11-23 Atlas Elektronik Gmbh Trommel für eine Schleppantenne, Winde, Schleppantenne und Wasserfahrzeug
WO2019121743A1 (fr) 2017-12-19 2019-06-27 Thales Poisson à portance hydrodynamique variable de façon réversible et ligne de remorquage comprenant le poisson

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023117684A1 (fr) 2021-12-20 2023-06-29 Koninklijke Philips N.V. Système tire-lait
EP4434553A1 (fr) 2023-03-23 2024-09-25 Koninklijke Philips N.V. Système de tire-lait
WO2024194248A1 (fr) 2023-03-23 2024-09-26 Koninklijke Philips N.V. Système tire-lait

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WO2021244863A3 (fr) 2022-02-17
DE102020206996A1 (de) 2021-12-09
EP4161826A2 (fr) 2023-04-12

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