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EP1147045B1 - Vorrichtung zum zerstören von unterwasserobjekten - Google Patents

Vorrichtung zum zerstören von unterwasserobjekten Download PDF

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Publication number
EP1147045B1
EP1147045B1 EP00988859A EP00988859A EP1147045B1 EP 1147045 B1 EP1147045 B1 EP 1147045B1 EP 00988859 A EP00988859 A EP 00988859A EP 00988859 A EP00988859 A EP 00988859A EP 1147045 B1 EP1147045 B1 EP 1147045B1
Authority
EP
European Patent Office
Prior art keywords
underwater
pivoting
objects
mine
underwater vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP00988859A
Other languages
English (en)
French (fr)
Other versions
EP1147045A1 (de
Inventor
André MEIRIER
Hervé KERMORGANT
Eric Frejaville
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ECA SA
Original Assignee
ECA SA
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 ECA SA filed Critical ECA SA
Publication of EP1147045A1 publication Critical patent/EP1147045A1/de
Application granted granted Critical
Publication of EP1147045B1 publication Critical patent/EP1147045B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • the destruction of underground mines is carried out by depositing a charge of explosive called "military charge" in the immediate vicinity of the underwater object and explosion.
  • military charge a charge of explosive
  • This way of operating requires to identify the mine then bring the military charge nearby and finally provoke explosion, as opposed to mine dredging which implements magnetic and / or mechanical means to trigger the mines or cut their orch.
  • the known methods of destroying an underwater mine background include a step of detection and / or identification of the mine and a step of destruction of the mine by means of an explosive charge important, for example of the order of 50 to 100 kgs, deposited at a distance a few meters from the mine to be destroyed, by means of an underwater vehicle, usually remote controlled.
  • the mines are destroyed by a similar process of detection and / or identification which is followed by a step of hang on the orin a pyrotechnic shear that is put in place at means of a remotely controlled or wire-guided underwater vehicle.
  • the actuation pyrotechnic shear by remote control from the vessel of surface. The mine rises to the surface and can be destroyed by cannon.
  • a submersible mine-neutralization vehicle comprising a first part provided with a propulsion unit and a second pivoting part with respect to the first and comprising a military charge. It is thus possible to orient the military load along an axis, for example horizontal while maintaining the first part substantially horizontal.
  • the underwater vehicle is destroyed during the explosion of his military charge. Orienting the military load can reduce it, resulting in a lighter weight of the vehicle.
  • it is difficult in practice to appropriate positioning in particular because of the influence of external factors, such as a marine current, resulting in uncertainty about the destruction. It may be necessary to correct the orientation of the vehicle after pivoting the second part to keep it in position.
  • the object of the present invention is to provide a vehicle consumable of destruction of underwater objects, suitable for tracking and more accurate and reliable destruction.
  • the device according to the invention is intended for the destruction of underwater objects.
  • the device is of the type comprising a first part provided with propulsion means and a second part provided with a means of attack, the second part being able to pivot relative to the first part along an axis, so that the device can approach an underwater object according to different orientations.
  • the second part comprises at least one sensor means capable of detecting a underwater object, so that the attacking means and the sensor means are similarly oriented with respect to an underwater object.
  • the way of attack is positioned correctly in relation to the underwater object as soon as the locating is made, hence better efficiency.
  • the means of attack can, if necessary, be repositioned while maintaining detection.
  • the device comprises means for pivoting of the second part with respect to the first part, the pivoting means being provided with at least one motor. We control thus precisely the orientation of the second part.
  • the means of pivoting are provided with at least one geared motor.
  • the second part comprises at least one means of observing submarine objects and / or at least one means identification of underwater objects.
  • the second part comprises at least one means of estimating the distance from an underwater object and / or at least one means of classifying underwater objects.
  • the second part comprises at least one means of remote communication with a support means, such as a surface vessel or aircraft.
  • the means of communication may understand an acoustic transducer.
  • the device includes at least one database relating to underwater objects.
  • the second part includes at least one means of consulting a database located at a distance and relative to underwater objects.
  • the device comprises at least one means to develop an attack strategy based on the type of an underwater object.
  • the device comprises at least one means of control of the pivoting of the second part able to find the position the most favorable for an acoustic transmission of data to a support means, such as a surface ship.
  • the subject of the invention is also a method of destruction of underwater objects, in which the device moves to an object underwater by means of propulsion provided in a first part, and angularly directs a second portion provided with at least one means of attack and at least one sensor means so that the second part is properly positioned in relation to the submarine object regardless of the positioning of the first part.
  • the mine hunter is usually a surface ship, but can also be an aircraft.
  • a relay at the surface of the water makes it possible to transform the acoustic signals emitted by the underwater vehicle in radio or optical or electrical signals, for their sending to the aircraft.
  • the military charge will generally be a hollow charge the explosion produces a main effect along an axis, hence the importance of position relative to the submarine object to be destroyed, and more than each type of mine has more sensitive or fragile areas than others to an external explosion.
  • the underwater vehicle comprises a front end 1 of generally hemispherical shape, a rear end 2 of truncated ogival general shape and a zone central 3 of cylindrical general shape.
  • the underwater vehicle is divided into two articulated parts one relative to the other, a first portion 4 formed of the rear end 2 and the central zone 3.
  • the rear part 4 is provided with means of propulsion in the form of four keeled propellers 5 and means of stabilization in the form of four retractable fins 6 arranged in cross with the propellers 5 regularly distributed between the fins 6.
  • On the 1 shows the lower flap 6 in the deployed position, the flap 6 upper being in the retracted position and therefore not visible. It is the same in Figure 2 for the left and right 6 fins.
  • the rear part 4 also optionally comprises a protuberance 7 of cylindrical general shape and extending the end back 2 backwards.
  • a protuberance 7 of cylindrical general shape and extending the end back 2 backwards.
  • a coil 7a of optical fiber able to take place during the displacement of the underwater vehicle and allowing a connection with the ship or helicopter that has dropped the underwater vehicle.
  • a vertical pipe 8 inside which is arranged a propeller 9 forming a vertical propeller adapted for the changes of depth and precise vertical positioning of the underwater vehicle.
  • the inside of the rear part 4 are arranged an electric motor 10 drive of the propeller 9, four electric motors 11 propulsion horizontal, each driving a propeller 5, a plurality of batteries 12 storage of electrical energy, an electronic unit 13 of control of propulsion electric motors, cards electronics 14 of a calculator, a magnetic compass 15 and a transducer 16.
  • the front portion 21 which is formed of the end before 1, is supported by the journals 20 and the arms 19 and is adapted to pivot relative to the rear portion 4 about the common horizontal axis to the two pins 20.
  • the pivoting of the front portion 21 is caused by the geared motor 17 controlled by the electronic unit 18.
  • the horizontal axis common to both trunnions 20 passes through the center of gravity of the front portion 21, which allows a more regular pivoting movement and decreases the torque that one requires the geared motor 17. Thanks to the hemispherical shape of the second part 21, its pivoting does not affect the behavior hydrodynamics of the entire vehicle.
  • the front portion 21 includes a military load 22 arranged substantially at its center and in the form of a load hollow effect forwardly oriented when the front portion 21 is in position resting line on the rear part 4, perpendicular to the axis of the trunnions 20.
  • the front portion 21 also includes a projector 24 to illuminate the surroundings of the underwater vehicle and oriented according to an axis parallel to the axis of the hollow charge.
  • a camera 23 of the analog type or digital is disposed along an axis parallel to that of the load dig.
  • the camera 23 and the projector 24 project slightly from the front end 1 of hemispherical general shape.
  • the front portion 21 further includes a sonar 25 disposed in a short cylindrical portion protruding from the front end 1 and oriented along a vertical axis, in the rest position.
  • a unit sonar control electronics 25 is disposed within the front portion 21, and a battery 27 for storing electrical energy intended for the camera 23, the projector 24, the sonar 25 and more generally to all energy consuming members associated with the front portion 21.
  • a 28 high-speed transducer disposed protruding from the front end 1 substantially symmetrically sonar 25. The transducer 28 is controlled by an electronic unit 29 disposed within the front portion 21.
  • the rear part is also equipped with an echo-sounder 30 disposed in a lower area of the underwater vehicle and allowing to appreciate the distance between said underwater vehicle and the bottom.
  • a electronic control unit 31 of the transducer 16 is provided.
  • the transducer 16 is disposed in a substantially protuberance cylindrical along a vertical axis of the rear portion 4 on the same side as the sonar 25. This transducer 16, low flow, allows the transmission of orders propelling the surface vessel or the aircraft to the submarine vehicle, as well as the transmission of information relating to the trajectory from the underwater vehicle to the surface vessel or aircraft.
  • a flash 32 is disposed on the rear portion 4 in a top area and allows the emission of a bright light when returning to the surface of the underwater vehicle to facilitate identification by the surface vessel or the aircraft, especially at night or in poor visibility.
  • the longitudinal axis of the underwater vehicle is noted 33
  • the pivot axis of the front portion 21 or journal axis 20 is noted 34
  • the axis of the vertical thruster is noted 35.
  • the operation of the underwater vehicle is carried out in the manner next.
  • the underwater vehicle is launched from a fishing vessel surface or an aircraft that has previously located the object to be destroyed, by example, using a hull sonar, a submerged sonar, or a sonar carrier moving in the bow of the ship, or by other means.
  • the ship or aircraft is traveling at a distance of safety where it will not be damaged by the explosion of the load military and mine.
  • the underwater vehicle begins a rallying phase which leads, thanks to its means of navigation, including the propellers 5, in a zone in which the underwater object previously identified may be located using the on-vehicle locating means on the vehicle submarine, in particular sonar 25.
  • the relocation stage is carried out by various maneuvers to detect and locate the object to identify it.
  • the sonar 25 is also used to estimate the distance of obj and in relation to the vehicle.
  • the identification stage starts with a approach maneuver to allow images taken by the camera 23, possibly assisted by the projector 24, in good conditions. These images may require changing the orientation of the front part 21 with respect to the rear part 4.
  • the images taken by the camera 23 can be either automatically processed by software of image processing implemented by a non-computing unit shown arranged in the front part 21 or by the cards 14 and allowing the identification of the underwater object for confirm that it is a mine or not, and then, by comparison, a base data, its classification, ie the recognition of the type of mine, according to its manufacturer, its mass, its operation, etc., and more generally any characteristic useful for recognition.
  • This automatic processing can be replaced by analysis, then the confirmation by a human operator after acoustic transmission at means of the transducer 28 images to the surface ship or the aircraft. We can still consider performing this automatic treatment on board said ship or aircraft.
  • the transmission of images to the surface vessel by the transducer 28, for confirmation of destruction in the case of a decision by an operator, or for information in the case of a automatic processing, may require pivoting of the front 21 with respect to the rear part 4 to aim at the said vessel, the purpose of to achieve a position favorable to the acoustic transmission of images by the transducer 28 and also a possible maneuver of the entire underwater vehicle, particularly in the presence of obstacles acoustic such as thermoclines or physical such as rocks.
  • the attack stage consists of describing a trajectory adapted to the type of mine identified, in order to reach him in a vulnerable area, that is to say present the hollow charge 22 in the position where it is most likely to destroy the mine and then trigger the firing.
  • the return stage consists, in case of negative identification, for example if the object is a wreck and not a mine, to join a repechage area planned in advance in the vicinity of the surface vessel or aircraft.
  • the steerable head of the underwater vehicle is equipped with sensors for observation, identification and classification of submarine objects, the dispatch to the surface vessel or the aircraft in optimal conditions, information and images collected for information or confirmation, the appreciation of the distance from the underwater vehicle to the submarine object and the development to from this information and after consulting a database embarked in the underwater vehicle or on the surface vessel or the aircraft, an attack strategy depending on the type of mine.
  • the fact of arrange on parallel axes the camera 23 and the military load 22, allows a positioning both more accurate and more reliable where a more high probability of success, especially in difficult conditions, for example in underwater currents.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (10)

  1. Vorrichtung zum Zerstören von Unterwasserobjekten, mit einem ersten, mit Antriebsmitteln versehenen Teil (4), und einem zweiten, mit Angriffsmitteln versehenen Teil (21), wobei das zweite Teil um eine Achse drehbar gegenüber dem ersten Teil ausgebildet ist, derart, daß die Vorrichtung sich einem Unterwasserobjekt längs unterschiedlicher Richtungen annähern kann, dadurch gekennzeichnet, daß das zweite Teil wenigstens eine Empfangseinrichtung zum Aufspüren eines Unterwasserobjekts aufweist, und daß das zweite Teil so ausgebildet ist, daß es das Angriffsmittel und die Empfangseinrichtung in gleicher weise auf das Unterwasserobjekt ausrichten kann.
  2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie eine Schwenkeinrichtung des zweiten Teils in Bezug auf das erste Teil aufweist, wobei die Schwenkeinrichtung wenigstens mit einem Motor versehen ist.
  3. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, daß die Schwenkeinrichtung mit einem Getriebemotor versehen ist.
  4. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, daß das zweite Teil wenigstens eine Beobachtungseinrichtung (23) für Unterwasserobjekte und/oder eine Erkennungseinrichtung für Unterwasserobjekte aufweist.
  5. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, daß das zweite Teil wenigstens eine Lokalisierungseinrichtung für Unterwasserobjekte, und/oder wenigstens eine Abstandsmeßvorrichtung (25) bezüglich dieses Unterwasserobjekts, und/oder wenigstens eine Einrichtung zur Klassifikation von Unterwasserobjekten aufweist.
  6. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, daß das zweite Teil wenigstens eine Fernkommunikationseinrichtung (28) zu einer Unterstützungseinrichtung, wie einem Wasserfahrzeug an der Oberfläche oder einem Luftfahrzeug, aufweist.
  7. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, daß sie eine Datenbank in Bezug auf die Unterwasserobjekte aufweist.
  8. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, daß das zweite Teil wenigstens eine Abfrageeinrichtung für eine entfernt gelegene, auf Unterwasserobjekte bezogene Datenbank aufweist.
  9. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, daß sie wenigstens eine Verarbeitungseinrichtung für eine auf Unterwasserobjekte bezogene Angriffsstrategie aufweist.
  10. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, daß sie wenigstens eine Steuereinrichtung für die Schwenkeinrichtung des zweiten Teils aufweist, die die günstigste Position für eine akustische Übertragung von Daten an eine Unterstützungseinrichtung, wie ein Wasserfahrzeug an der Oberfläche, ermittelt.
EP00988859A 1999-11-24 2000-11-21 Vorrichtung zum zerstören von unterwasserobjekten Expired - Lifetime EP1147045B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9914797 1999-11-24
FR9914797A FR2801274B1 (fr) 1999-11-24 1999-11-24 Dispositif de destruction d'objets sous-marins
PCT/FR2000/003225 WO2001038169A1 (fr) 1999-11-24 2000-11-21 Dispositif de destruction d'objets sous-marins

Publications (2)

Publication Number Publication Date
EP1147045A1 EP1147045A1 (de) 2001-10-24
EP1147045B1 true EP1147045B1 (de) 2005-01-19

Family

ID=9552497

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00988859A Expired - Lifetime EP1147045B1 (de) 1999-11-24 2000-11-21 Vorrichtung zum zerstören von unterwasserobjekten

Country Status (6)

Country Link
EP (1) EP1147045B1 (de)
JP (1) JP5155511B2 (de)
DE (1) DE60017546T2 (de)
FR (1) FR2801274B1 (de)
NO (1) NO20013618D0 (de)
WO (1) WO2001038169A1 (de)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1794049B2 (de) * 2004-09-29 2017-06-07 Société ECA Vorrichtung zum ablenken von unterwasser- oder schwimmobjekten
DE102004062124B3 (de) * 2004-12-23 2006-06-22 Atlas Elektronik Gmbh Einrichtung und Verfahren zum Tracken eines Unterwasserfahrzeugs
JP5249974B2 (ja) * 2009-12-14 2013-07-31 三菱重工業株式会社 機雷処理装置
DE102011018304A1 (de) * 2011-02-15 2012-08-16 Atlas Elektronik Gmbh Unbemanntes Unterwasserfahrzeug, daran fixierbarer Austauschkörper, System mit dem unbemannten Unterwasserfahrzeug und dem Austauschkörper sowie Verfahren zum Betreiben eines unbemannten Unterwasserfahrzeugs
DE102011116613A1 (de) * 2011-10-20 2013-04-25 Atlas Elektronik Gmbh Unbemanntes Unterwasserfahrzeug und Verfahren zum Lokalisieren und Untersuchen eines am Gewässergrund eines Gewässers angeordenten Objekts sowie System mit dem unbemannten Unterwasserfahrzeug
IL228660B (en) 2013-10-01 2020-08-31 Elta Systems Ltd Underwater system and method therefor
CN103600821B (zh) * 2013-11-07 2016-03-30 江苏科技大学 全向浮游爬壁水下机器人
CN105151255B (zh) * 2015-10-25 2017-06-20 宁波市鄞州发辉机械科技有限公司 一种水下监测系统
DE102021213745A1 (de) * 2021-12-02 2023-06-07 Atlas Elektronik Gmbh Unterwasserfahrzeug zur Zerstörung von Seeminen

Family Cites Families (12)

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Publication number Priority date Publication date Assignee Title
US2987893A (en) * 1956-10-29 1961-06-13 American Mach & Foundry Underwater craft
US4372239A (en) * 1980-03-03 1983-02-08 General Dynamics, Pomona Division Undersea weapon with hydropulse system and periodical seawater admission
DE3820183A1 (de) * 1988-06-14 1990-02-08 Diehl Gmbh & Co Flugkoerper mit einem schwenkbaren gefechtskopf
FR2684951A1 (fr) 1991-12-17 1993-06-18 Eca Procede de destruction d'un objet sous-marin, et notamment d'une mine immergee.
FR2701918B1 (fr) 1993-02-23 1995-04-28 Eca Procédé perfectionné de destruction d'un objet sous-marin, et notamment d'une mine immergée.
DE4323904A1 (de) * 1993-07-16 1995-01-19 Diehl Gmbh & Co Unterwasserdrohne
JP3011583B2 (ja) * 1993-08-31 2000-02-21 株式会社東芝 遊泳式水中目視検査装置
FR2716966B1 (fr) * 1994-03-01 1996-03-29 Thomson Csf Système de défense anti-aérienne à très courte portée, de type missile sol-air.
JPH08216984A (ja) * 1995-02-20 1996-08-27 Hitachi Zosen Corp 水中作業方法および水中作業用撮像装置
JP3274308B2 (ja) * 1995-02-24 2002-04-15 ケイディーディーアイ株式会社 磁気探査装置とその磁気センサ装置
GB2305399B (en) 1995-09-21 1999-05-19 Marconi Gec Ltd A submersible mine neutralisation vehicle
JP4445635B2 (ja) * 2000-03-06 2010-04-07 三井造船株式会社 無人潜水機の航行方法および無人潜水機

Also Published As

Publication number Publication date
FR2801274A1 (fr) 2001-05-25
NO20013618L (no) 2001-07-23
JP2003514718A (ja) 2003-04-22
WO2001038169A9 (fr) 2001-06-28
DE60017546T2 (de) 2006-05-11
NO20013618D0 (no) 2001-07-23
EP1147045A1 (de) 2001-10-24
FR2801274B1 (fr) 2001-12-28
DE60017546D1 (de) 2005-02-24
JP5155511B2 (ja) 2013-03-06
WO2001038169A1 (fr) 2001-05-31

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