Drone deployment system from an underwater vehicle

Abstract

Drone release system from an underwater vehicle. The drone release system comprises: a plurality of capsules (6), each capsule (6) containing a drone and configured to rise to the surface of the water due to its buoyancy and to open once the capsule (6) has reached the surface of the water to release the drone; a magazine (8) for storing the capsules (6), the magazine (8) being in permanent fluidic communication with the outside so that the surrounding water fills the magazine (8) when the underwater vehicle (2) is submerged; and a retaining device (16) having a retaining configuration in which the retaining device (16) retains the capsules (6) in the magazine (8) and a release configuration in which the retaining device (16) releases a capsule (6) for its ascent to the surface of the water. Figure 1

Description

Title of the invention: Drone deployment system from an underwater vehicle

[0001] The present invention relates to a drone release system from an underwater vehicle.

[0002] For carrying out surveillance missions, for example maritime traffic monitoring, it is useful to be able to deploy a drone from an underwater vehicle. It may be desirable to deploy the drone discreetly, for example to monitor a surface vessel illegally cleaning fuel tanks at sea.

[0003] One of the aims of the invention is to provide a drone dropping system from an underwater vehicle, the drone dropping system being simple and efficient.

[0004] To this end, the invention proposes a drone deployment system from an underwater vehicle, the deployment system comprising:

[0005] - a plurality of capsules, each capsule containing a drone and exhibiting a buoyancy allowing the capsule to rise to the surface of the water, each capsule being configured to open once it has reached the water's surface to release the drone,

[0006] - a store for storing capsules, the store being in communication permanent fluidic connection with the outside so that the surrounding water fills the magazine when the underwater vehicle is submerged, the magazine having an outlet opening for the capsules, and

[0007] - a restraint device having a restraint configuration in which the The retention device retains the capsules inside the magazine and a release configuration in which the retention device releases a capsule for exit through the exit opening and the released capsule rises to the surface of the water due to the buoyancy of the capsule.

[0008] The provision of a capsule containing the drone allows the drone to be released while the underwater vehicle is submerged. The capsule can rise to the surface of the water due to its buoyancy alone, thus releasing the drone. The drone is therefore released simply and discreetly.

[0009] Providing a store filled with seawater and capsules resistant to the pressure of the surrounding water makes it possible to simplify the release device by avoiding the need to provide an atmospheric pressure storage space and an airlock system for releasing a capsule from the underwater vehicle.

[0010] The release of a capsule from the store filled with surrounding water can be carried out very simply by releasing the capsule which then rises to the surface due to its buoyancy.

[0011] According to particular embodiments, the release system comprises one or more of the following optional features, taken individually or in all technically possible combinations:

[0012] - the release system includes a transmission device configured for the transmission of mission data to the drone of one or more capsules received in the store before the release of the capsule(s);

[0013] - the transmission device is configured for the transmission of data from mission to the drone of the capsule which will be the next capsule dropped;

[0014] - the retaining device is configured to release a capsule only after the transmission of mission data to the drone of this capsule via the transmission device;

[0015] - each capsule is watertight and resistant to water pressure, for example to less up to a pressure of 50 bars, preferably at least up to a pressure of 700 bars;

[0016] - each capsule comprises at least two capsule parts, the drone being received in one of the parts of the capsule;

[0017] - the release system includes a telecommunications relay system configured to communicate remotely with the drone and / or with the underwater vehicle;

[0018] - the telecommunications relay system is disposed in the capsule or in a communication buoy separate from the capsule and preferably jettisonable from the underwater vehicle;

[0019] - the drone of at least one of the capsules is equipped with a geolocation tracker, in particular a GPS tracker, which can be dropped by the drone onto a target to be monitored, in particular a ship to be monitored;

[0020] - the geolocation tracker is equipped with a mounting device configured for retain the geolocation tracker on a ferromagnetic part of the target to be monitored, for example a part of a hull of the target to be monitored.

[0021] - the magazine is oriented substantially vertically when the vehicle's attitude is under marine is horizontal;

[0022] - the capsule comprises a chamber having an exit opening closed by a removable lid and a piston received sliding in the chamber and separating the chamber into a first compartment, delimited between the piston and the lid, and receiving the drone, and a second compartment;

[0023] - the capsule includes an ejection device, for example pneumatic, configured to sequentially generate a deletion in the first compartment for eject the lid then generate overpressure in the second compartment to push the piston towards the exit opening and eject the drone out of the chamber.

[0024] The invention also relates to an underwater vehicle comprising a drone release system as defined above.

[0025] In exemplary embodiments, the store is housed in a kiosk of the underwater vehicle so as to drop the capsules from a top of the kiosk.

[0026] The invention will become clearer upon reading the following description, given solely by way of non-limiting example, and made with reference to the drawings in which:

[0027] - [Fig. 1] [Fig. 2] Figures 1 and 2 are partial schematic views of a machine submarine equipped with a drone deployment system, respectively in a first configuration and a second configuration;

[0028] - [Fig.3] [Fig.3] is a cross-sectional view of a capsule of the release system drone, the capsule being on the surface of the water and opened to release a drone housed in the capsule;

[0029] - [Fig.4] [Fig.4] is a schematic overview of an underwater vehicle equipped of a drone deployment system, after a drone has been deployed;

[0030] - [Fig. 5] [Fig. 5] is a cross-sectional view of a capsule according to another example, the capsule being on the surface of the water and closed;

[0031] - [Fig.6] [Fig.6] is a cross-sectional view of the capsule of [Fig.5] after opening the capsule and drone ejection; and

[0032] - [Fig.7] [Fig.7] is a schematic overview of an underwater vehicle equipped of a drone deployment system, after a drone has been deployed, illustrating the use of a telecommunications relay system arranged in a communication buoy.

[0033] As illustrated in Figures 1 and 2, an underwater vehicle 2 is equipped with a drone release system 4 allowing drones to be released from the underwater vehicle 2, when the underwater vehicle 2 is submerged below the surface of the water.

[0034] The drone release system 4 preferably allows mission data to be transmitted to each drone and the status of each drone to be monitored.

[0035] The drone release system 4 comprises underwater release vehicles or release capsules 6 (hereinafter "capsule 6"), each capsule 6 containing a drone (not visible in Figures 1 and 2).

[0036] Each capsule 6 has positive buoyancy allowing the capsule 6 to rise to the surface of the water when the capsule 6 is dropped underwater from the drone release system 4.

[0037] The drone release system 4 includes a magazine 8 for storing a plurality of capsules 6. Each capsule 6 is closed when stored in the magazine 8 and contains a drone.

[0038] The magazine 8 is in permanent fluidic communication with the outside, such that the magazine 8 is filled with surrounding water when the underwater vehicle 2 is submerged.

[0039] The drone release system 4 is for example configured to release the capsules 6 one by one, each released capsule 6 exiting the magazine 8 to reach the surface of the water due to the buoyancy of that capsule 6.

[0040] The store 8 has for example a conduit 10 configured to receive the capsules 6 and opening to the outside through an outlet opening 12, configured to allow the exit of the capsules 6, preferably one by one.

[0041] The magazine 8 is designed to receive several capsules 6 arranged one behind the other, the drone release system 4 releasing the capsules 6 one after the other through the exit opening 12.

[0042] Conduit 10 is configured for example to receive capsules 6 one after the other.

[0043] The exit opening 12 is positioned and sized to allow the exit of capsules 6 via the exit opening 12. Preferably, the exit opening 12 is positioned and sized to allow the exit of only one capsule 6 at a time.

[0044] The magazine 8 has a plurality of positions for the capsules 6, including a first position adjacent to the exit opening 12 and subsequent positions.

[0045] Once the capsule 6 located in the first position, adjacent to the exit opening 12, is released via the exit opening 12, the other capsules 6 still present in the conduit 10 then advance one position in the conduit 10, so that the capsule 6 located in the second position passes into the first position and so on.

[0046] The outlet opening 12 is preferably located at an upper end of the conduit 10.

[0047] The exit opening 12 is for example located on an upper surface 14 of the hull of the underwater vehicle 2. The upper surface 14 is located on the top of the underwater vehicle 2 when the trim of the underwater vehicle 2 is horizontal.

[0048] The conduit 10 extends along a central line A, which is for example straight or curvilinear.

[0049] In a particular example, the central line A is straight. In this case, the central line A is preferably vertical when the underwater vehicle 2 is horizontally aligned. This facilitates the exit of the capsule 6 located in the first position through the exit opening 12.

[0050] The store 8, and more particularly the conduit 10, is for example in permanent fluidic communication with the outside via the outlet opening 12.

[0051] As an alternative or optional complement, the store 8, and more particularly the conduit 10, is in permanent fluidic communication with the outside via an auxiliary opening separate from the outlet opening 12.

[0052] When the underwater vehicle 2 is submerged, the magazine 8, and more particularly the conduit 10, is filled with surrounding water and the capsules 6 are subjected to the pressure of the surrounding water.

[0053] The drone release system 4 includes a retaining device 16 having a retaining configuration ([Fig.1]), in which the retaining device 16 retains the capsules 6 inside the magazine 8, and a release configuration ([Fig.2]), in which the retaining device 16 releases a capsule 6 for the exit of the capsule 6 through the exit opening 12 and the rise of the released capsule 6 to the surface of the water due to the buoyancy of the capsule 6.

[0054] The retaining device 16 is for example configured to partially or completely obstruct the exit opening 12 in the retaining configuration ([Fig.1]) and prevent a capsule 6 from exiting through the exit opening 12, and to release the exit opening 12 in the release configuration ([Fig.2]) to allow the exit of a capsule 6 through the exit opening 12.

[0055] The retaining device 16 comprises, for example, one or more retaining elements 18, each retaining element 18 being movable between a closed position ([Fig.1]) in which the retaining element 18 extends into the opening 12 and prevents the passage of a capsule 6 through the exit opening 12, and an open position ([Fig.2]), in which the retaining element 18 is released from the exit opening 12 and allows the passage of a capsule 6 through the exit opening 12.

[0056] Two retaining elements 18 are illustrated in Figures 1 and 2. In variants, the retaining device 16 comprises a single retaining element 18 or more than two retaining elements 18.

[0057] In the illustrated example, each retaining element 18 in the closed position protrudes into the exit opening 12.

[0058] Advantageously, the drone release system 4 includes a data transmission device 20 configured to transmit data to a drone received in a capsule 6 present in the magazine 8, in particular the capsule 6 located in the first position of the magazine 8, i.e. the next capsule 6 which will be released by the drone release system 4.

[0059] The data transmission device 20 preferably includes an antenna 22 configured to transmit data to the drone received in the capsule 6.

[0060] The antenna 22 is for example provided in the form of an electromagnetic loop, in particular an electromagnetic ball surrounding the magazine 8, preferably at the height of the first position of the magazine 8.

[0061] The data transmission device 20 allows, for example, mission data to be transmitted to the drone present in the capsule 6 located in the first position.

[0062] Mission data include, for example, a type of mission to be carried out, a trajectory to be followed, with, for example, waypoints and / or identification data of a target to be searched for.

[0063] Advantageously, the drone release system 4 includes a presence detector 24 configured to detect the presence of a capsule 6 in the first position of the magazine 8. The presence detector 24 ensures the presence, in the magazine 8, of a capsule 6 ready to be released.

[0064] The drone release system 4 includes an electronic control unit 26 configured to control the restraint device 16, in particular to control the switching of the restraint device 16 between the restraint configuration ([Fig. 1]) and the release configuration ([Fig. 2]). Preferably, the restraint device 16 and / or the electronic control unit 26 are configured to release only one capsule 6 at a time.

[0065] Where appropriate, the electronic control unit 26 is preferably configured to communicate with the drone of the capsule 6 located in the first position via the data transmission device 20 and / or to receive the signal provided by the presence detector 24.

[0066] As illustrated in [Fig.3], capsule 6 contains a drone 30. The drone 30 is, for example, a flying drone, in particular a rotary-wing drone, comprising one or more rotors, in particular four rotors.

[0067] The drone 30 includes, for example, onboard sensors 32. The sensors 32 include, for example, an image sensor, in particular a camera.

[0068] The drone 30 is for example equipped with a payload 34 carried on the drone 30 and jettisonable by the drone 30.

[0069] The payload 34 is, for example, a geolocation tracker, in particular a GPS tracker. The drone 30 is then, for example, configured to drop the geolocation tracker onto a target, for example, onto a ship to be monitored.

[0070] The charge 34 is, for example, equipped with a charge attachment device that allows the charge to be attached to the target. The charge attachment device is, for example, configured to attach by magnetic attraction to a ferromagnetic part of the target, for example, to the hull of the target when the target is a ship. The charge attachment device includes, for example, one or more permanent magnets and / or one or more electromagnets.

[0071] The capsule 6, for example, has a spherical or ovoid shape. Such a shape offers high resistance to external pressure. This allows the capsule 6 to be released at a great depth.

[0072] Capsule 6 is configured to release drone 30 when capsule 6 reaches the water's surface. In particular, capsule 6 is configured to open when capsule 6 reaches the water's surface, so as to release drone 30.

[0073] The opening of capsule 6 is for example controlled according to a measurement provided by a depth sensor configured to provide a signal representative of the depth at which capsule 6 is located.

[0074] The capsule 6 comprises, for example, a first capsule part 36 and a second capsule part 38 movable relative to each other between a closed position in which the first capsule part 36 and the second capsule part 38 surround the drone 30, defining an internal volume, preferably sealed, in which the drone 30 is received, and an open position in which the first capsule part 36 and the second capsule part 38 are separated from each other to open the capsule 6 and allow the drone 30 to take off.

[0075] Capsule 6 is for example configured so that the first part of capsule 36 and the second part of capsule 38 remain joined together after the opening of capsule 6. The first part of capsule 36 and the second part of capsule 26 are for example hinged to each other.

[0076] The first part of capsule 36 and the second part of capsule 38 form, for example, two complementary half-shells, the union of which forms a hollow shell defining capsule 6.

[0077] When capsule 6 has a spherical or ovoidal shape, the first part of capsule 36 and the second part of capsule 38 are, for example, each in the shape of a spherical or ovoidal half-shell, the first part of capsule 36 and the second part of capsule 38 together forming a spherical or ovoidal shell.

[0078] The drone release system 4 includes, for example, a telecommunications relay system 40 to ensure telecommunications between the drone 30 and the underwater vehicle 2, in particular when the drone 30 has been released.

[0079] The telecommunications relay system 40 is, for example, located in capsule 6

[0080] The telecommunications relay system 40 is, for example, configured for wireless communication between the capsule 6 and the drone 30.

[0081] The telecommunications relay system 40 is configured for example for wired or wireless communication with the drone 30, for example via a Wifi, Bluetooth, Ant+, LiFi or satellite protocol.

[0082] The telecommunications system 40 allows communication with the drone 30 when the drone 30 is in flight.

[0083] This allows, for example, the drone 30 to send data collected using each sensor 32, in particular images captured by an image sensor.

[0084] The telecommunications relay system 40 is configured for communication between the capsule 6 and the underwater vehicle 12, for example wirelessly.

[0085] Capsule 6 preferably includes an electrical energy reserve 44 carried in capsule 6. The electrical energy reserve 44 is for example connected to the telecommunications relay system for its electrical energy supply.

[0086] As illustrated in [Fig.4], the underwater vehicle 2 comprises a hull 46 having a main hull part 48 extending along a longitudinal axis L and a kiosk 50 arranged on top of the main hull part 48.

[0087] The magazine 8 is located inside the hull 44 and opens to the outside through the exit opening 12, which is preferably arranged on an upper surface 14 of the hull 44, facing upwards.

[0088] Preferably, the magazine 8 is housed in the kiosk 50 of the underwater craft 2. This facilitates the installation of store 8 because kiosk 50 is designed to accommodate equipment such as an exit vestibule for operators or antennas. The upper surface 14 is therefore located at the top end of kiosk 48.

[0089] During operation, the underwater vehicle 2 is submerged and capsules 6 are received in the magazine 8, specifically in the magazine conduit 10, which is filled with surrounding water. The capsules 6 are subjected to the pressure of the surrounding water. This pressure is a function of the diving depth of the underwater vehicle 2.

[0090] Each capsule 6 tends to rise to the surface of the water due to its buoyancy, but the capsules 6 are retained in the magazine 8 as long as the retention device 16 is in the retention configuration ([Fig.1]).

[0091] Before dropping a capsule 6, optionally, the electronic control unit 26 checks the presence of a capsule 6 in the first position of the magazine 8 and / or transmits mission data to this capsule 8 via the data transmission device 20.

[0092] For the release of a capsule 6, the electronic control unit 26 commands the retention device 16 to switch to the release configuration ([Fig.2]). The exit opening 12 is released.

[0093] Capsule 6, located in the first position of magazine 8, is released and exits through the exit opening 12. The retaining device 16 returns to its retaining configuration once capsule 6 is released. The other capsules 6 advance one position in magazine 8 and are retained by the retaining device 16 in its retaining configuration.

[0094] The released capsule 6 rises to the surface of the water solely due to its buoyancy. Once capsule 6 reaches the surface, it opens to release drone 30. Drone 30 can then take off to carry out its mission.

[0095] During the mission, the drone 30 captures data using each sensor 32 and, optionally, drops a payload 34. The data captured by the drone 30 is, for example, transmitted to the capsule 6 via the telecommunications relay system 40, continuously or intermittently, and optionally transmitted from the capsule 6 to the underwater vehicle 2 via the telecommunications relay system 40, continuously or intermittently.

[0096] The drone 30 is for example configured to carry out missions autonomously, i.e. without intervention from a remote operator, and / or piloted missions, with intervention from a remote operator, for example to give remote flight instructions, give remote data capture instructions and / or control the drone remotely.

[0097] The invention is not limited to the examples and variants described above. Other examples and variants are conceivable.

[0098] In the examples illustrated in Figures 1 to 4, the underwater drop vehicle or capsule 6 is spherical or ovoid in shape. Other shapes are conceivable.

[0099] In examples, as illustrated in [Fig. 5], the capsule 6 has a chamber 60, preferably cylindrical, having an outlet opening 62 closed by a removable cover 64, and a received piston 66 sliding inside the chamber 60 and dividing the chamber 60 into a first compartment 60A defined between the piston 66 and the cover 64, and a second compartment 60B. The drone 30 received in the capsule 6 is disposed in the first compartment 60A.

[0100] Capsule 6 includes an ejection device 68 configured to sequentially open the cover 64 and then eject the drone 30 from capsule 6.

[0101] The ejection device 68 is for example a pneumatic device configured to sequentially generate an overpressure in the first compartment 60A (Arrow SI) to cause the ejection of the cover 64 and then generate an overpressure in the second compartment 60B (Arrow S2) to move the piston 66 towards the outlet opening 62 of the chamber 60 and eject the drone 30 out of the chamber 60, as illustrated in [Fig.6].

[0102] Preferably, the capsule 6 includes stops 70 to prevent the piston 66 from moving towards the end of the second compartment 60B when generating overpressure in the first compartment 60A.

[0103] Preferably, the drone 30 is in an active standby state before its ejection and in an active state after its ejection, the drone 30 in the active state activating itself to fly.

[0104] Advantageously, the drone 30 is configured to automatically detect its ejection from capsule 6 and to automatically switch from the active standby state to the active state in which the drone 30 starts to fly when the drone 30 detects its ejection out of capsule 6.

[0105] The drone 30 is configured for example to perform inertial measurements (displacement, speed and / or acceleration of the drone 30), at least while the drone 30 is in active standby mode, for example using an inertial measurement unit on board the drone 30 and / or one or more accelerometers of the drone 30, and to detect the ejection of the drone 30 based on the inertial measurements, when the drone 30 is in active standby mode.

[0106] In the examples illustrated in Figures 1 to 4, the telecommunications relay system 40 is arranged in the drone 30 release capsule 6.

[0107] In some examples, a telecommunications relay system 40 is disposed in a communication buoy 80 separate from the capsule 6. The communication buoy 80 is, for example, jettisonable from the underwater vehicle 2, and preferably recoverable in the underwater vehicle 2.

[0108] The telecommunications relay system 40 is, for example, configured for wireless communication with the drone 40, in particular via the wireless telecommunications protocols indicated above.

[0109] The telecommunications relay system 40 is, for example, configured for wired communication with the underwater vehicle 2, via a wired communication link 82 extending between the communication buoy 80 and the underwater vehicle 2. The wired communication link 82 is, for example, an optical link comprising one or more optical fibers for the exchange of communication signals between the telecommunications relay system 40 and the underwater vehicle 2.

[0110] The use of a communication buoy 80 allows the communication buoy 80 to be used for several drones 30. This is more practical and economical than using a respective telecommunication relay system 40 for each drone 30.

[0111] In Figures 3 and 7, a capsule 6 of spherical or ovoidal shape is shown, but the use of a telecommunications relay system 40 housed in the capsule 6 or in a communication buoy 80 is possible with any type of capsule 6, including a capsule 6 as illustrated in Figures 5 and 6.

Claims

Demands

1. A drone release system from an underwater craft, the release system comprising: - a plurality of capsules (6), each capsule (6) containing a drone (30) and having buoyancy enabling the capsule (6) to rise to the surface of the water, each capsule (6) being configured to open once the capsule (6) has reached the surface of the water to release the drone (30), - a magazine (8) for storing the capsules (6), the magazine (8) being in permanent fluidic communication with the outside so that the surrounding water fills the magazine (8) when the underwater craft (2) is submerged, the magazine (8) having an exit opening (12) for the capsules (12),and - a retention device (16) having a retention configuration in which the retention device (16) retains the capsules (6) inside the magazine (8) and a release configuration in which the retention device (16) releases a capsule (6) for the exit of the capsule (6) via the exit opening (12) and the rise of the released capsule (6) to the surface of the water due to the buoyancy of the capsule (6).

2. Release system according to claim 1, comprising a transmission device (20) configured for transmitting mission data to the drone of one or more capsules (6) received in the magazine (8) before the release of the capsule(s) (6).

3. A release system according to claim 2, wherein the transmission device (20) is configured for transmitting mission data to the drone (30) of the capsule (6) which will be the next capsule (6) to be released.

4. Release system according to claim 2 or 3, wherein the retention device (16) is configured to release a capsule (6) only after the transmission of mission data to the drone (30) from this capsule (6) by the transmission device (20).

5. A release system according to any one of the preceding claims, wherein each capsule (6) is leak-proof and resistant to water pressure, for example at least up to a pressure of 50 bars, preferably at least up to a pressure of 700 bars.

6. A release system according to any one of the preceding claims, wherein each capsule (6) comprises at least two capsule parts (36, 38), the drone (30) being received in one of the capsule parts (36, 38).

7. A release system according to any one of the preceding claims, comprising a telecommunications relay system (40) configured to communicate remotely with the drone (30) and / or with the underwater craft (2).

8. Release system according to claim 7, wherein the telecommunication relay system (40) is disposed in the capsule (6) or in a communication buoy (80) separate from the capsule (6) and preferably jettisonable from the underwater craft (2).

9. A release system according to any one of the preceding claims, wherein the drone (30) of at least one of the capsules (6) is equipped with a geolocation tracker (34), in particular a GPS tracker, which can be released by the drone (30) onto a target to be monitored, in particular a ship to be monitored.

10. Release system according to claim 9, wherein the geolocation tracer (34) is provided with a fastening device configured to retain the geolocation tracer (34) on a ferromagnetic part of the target to be monitored, for example a part of a hull of the target to be monitored.

11. A release system according to any one of the preceding claims, wherein the magazine (8) is oriented substantially vertically when the underwater craft is horizontally in attitude.

12. Release system according to any one of the preceding claims, in which the capsule (6) comprises a chamber (60) having an exit opening (62) closed by a removable cover (64) and a piston (66) received sliding in the chamber (60) and separating the chamber (60) into a first compartment (60A), delimited between the piston (66) and the cover (64), and receiving the drone (30), and a second compartment (60B).

13. A release system according to claim 12, wherein the capsule (6) comprises an ejection device, for example pneumatic, configured to sequentially generate a suppression in the first compartment (60A) to eject the lid (64) then

14.

15. generate an overpressure in the second compartment (60B) to push the piston (66) towards the outlet opening and eject the drone (30) out of the chamber (60). Underwater craft comprising a drone deployment system according to any one of the preceding claims. Underwater craft according to claim 14, the magazine (8) being housed in a kiosk of the underwater craft so as to release the capsules (6) from a top of the kiosk.

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