Autonomous underwater transport vehicle

Abstract

The invention relates to the field of naval military equipment, especially to underwater cargo transport vehicles designed for concealed autonomous transportation of torpedo -type devices and other cargo. The autonomous underwater transport vehicle comprises a hull (1), a power source and propulsion blocks (6). The hull (1) includes internal longitudinal channels (2) for power elements, electronic control and communication equipment, high-pressure gas mini-cylinders (24) and self-destruction devices (26). The hull (1) is equipped with side mounts for attaching propulsion blocks (6). The propulsion blocks (6) are housed in cylindrical cases (7) and contain waterproof electric motors (8) that directly drive the propeller-type screws (9). Along its lateral sides, there are devices with rotating hinges (5) and actuating mechanisms for opening and closing the hull. A locking device (4) with an electric drive is positioned in the middle along the upper side of the hull (1). The main bearing wings (11) are attached to the lower part of the hull (1), having additional retractable sections (12).

Description

[0001] AUTONOMOUS UNDERWATER TRANSPORT VEHICLE

[0002] The invention pertains to the field of naval military equipment, specifically to special underwater cargo transport vehicles designed for concealed autonomous transportation of torpedotype devices and other cargo.

[0003] There is a known integrated underwater apparatus comprising a head section housing an autonomous homing system, an explosive charge, contact and non-contact fuses, a control system; further comprising a middle section housing a power source and engine; and comprising a tail section with a propeller, actuators for rudder mechanisms, and external fins with rudders. Additionally, the head section contains compact drifting and self-propelled hydro acoustic suppression and simulation devices, mechanisms for disabling enemy torpedoes or countertorpedoes, and storage devices for thereof, and launch control devices. Moreover, the control system for the underwater apparatus further includes a recognizing unit for active detection systems, hydro acoustic suppression, and counter-torpedo protection, and for calculating maneuvers to overcome hydro acoustic suppression barriers and counter-torpedo defenses [RU 2640598, Cl, IPC: F42B 15 / 22, published 10.01.2018, Bulletin No. 1],

[0004] All this confirms that to engage modem naval targets, the use of underwater vehicles is accompanied by active countermeasures from their side and greatly complicated by the solution of this task. The vulnerability of underwater vehicles to countermeasures is their essential disadvantage.

[0005] There is another known underwater apparatus comprising a head section housing an autonomous homing system, contact and non-contact fuses, a control system with a recognizing unit for active detection systems, hydro acoustic suppression, and counter-torpedo protection, and for calculating maneuvers to overcome hydro acoustic suppression barriers and counter-torpedo defenses, as well as compact drifting and self-propelled hydro acoustic suppression and simulation devices, and mechanisms for disabling enemy torpedoes or counter-torpedoes, storage devices for thereof, and launch control devices; further comprising a middle section housing a power source and engine; and comprising a tail section with a propeller, actuators for rudder mechanisms, and external fins with rudders. The head section rigidly incorporates an electro-explosive block designed as a thick-walled pipe filled with ion-conductive fluid. One end of the pipe is tightly walled up. In the side walls of the apparatus, near the above said tightly walled up end, there are two symmetrical openings, which house hermetically installed working electrodes whose discharge parts are located inside the pipe cavity. The first working electrode lead out is connected to a terminal of a capacitor bank, while the other terminal of the capacitor bank is connected to an electrode of a controlled discharger, whose other electrode is connected to the second working electrode. The control electrode is connected to the output of an ignition pulse generator, which is connected to the contact and non-contact fuses. Conical plug with a cone inside the pipe is fitted on the open end of the tube, and an intake valve is located on the side surface of the tube [RU 2696733, Cl, IPC: F42B 15 / 22, F42B 17 / 00, published 05.08.2019, Bulletin No. 22],

[0006] However, this design cannot ensure the concealed and shipless transportation of the torpedoes and other torpedo-type devices over significant distances.

[0007] The objective of the invention is to develop an autonomous, remotely controlled underwater unmanned special-purpose reusable transport vehicle being capable of concealedly transporting torpedo-type devices over significant distances, which would not be limited by the parameters of standard torpedo launchers, and concealedly delivering unmanned naval drones to the closest possible target of attack, in order to prevent their early detection by the enemy and to preserve the energy potential of the drones' propulsion units, which would significantly extend their operational range.

[0008] This objective is achieved by designing an autonomous underwater transport vehicle comprising a hull, a power source, and an engine. According to the invention, the hull is configured to have internal longitudinal channels for housing power elements, electronic control and communication equipment (electronic checkout maintenance equipment), high-pressure gas minicylinders, and self-destruction devices. The hull has side mounts for attaching propulsion blocks, and along the lateral sides of the hull, there are devices with rotating hinges and actuating mechanisms for opening / closing the hull. In the middle part of the hull along the upper side thereof, there is a locking device with an electric drive. The propulsion blocks are housed in cylindrical cases and provided with waterproof electric motors. Those directly drive screw-type propellers. The main wing block with an additional retractable part is connected to the lower side of the hull.

[0009] The autonomous underwater transport vehicle can be equipped with an electronic control unit for devices and functions and a system of secure satellite communication with the command center.

[0010] The autonomous underwater transport vehicle can be equipped with an inertial navigation system for autonomously returning to the launch point. The autonomous underwater transport vehicle can be provided with a longitudinal telescopic streamlined post comprising a swivel (rotating) mechanism, which is equipped with an antenna, sonar, video camera, thermal imager, and rangefinder.

[0011] The autonomous underwater transport vehicle can include electronic warfare installations.

[0012] The autonomous underwater transport vehicle can have a mounting system for transporting non-standard cargoes.

[0013] The autonomous underwater transport vehicle can be equipped with a a self-destruction system being operable by the operator command or after a specified time following the detachment of the transported device, when it is being raised, or submerged beyond a specified depth in case of the vehicle system failure or damage thereof.

[0014] The autonomous underwater transport vehicle can comprise a gas-distribution actuator of a position control, which is configured to ensure the selection and maintenance of the immersion depth and stabilization of the horizontal position during transportation, wherein the actuator being connected by hoses to ballast pneumatic stabilizers, namely, external inflatable variable-volume buoyancy devices located on the lateral sides at the front and rear parts of the transported device and connected to high-pressure gas mini-cylinders.

[0015] The advantages of the autonomous underwater transport vehicle include the ability:

[0016] - To deliver the industrially manufactured torpedo-type devices according to the specified coordinates, which are non-constrained by the parameters of standard torpedo launchers, and equipped with external propulsion systems for significantly higher speeds as compared to standard torpedo engines.

[0017] - Concealedly to deliver naval drones to attack positions as close as possible, in order to prevent early enemy detection and conserve the energy of drone propulsion units, thereby extending their operational range.

[0018] - To deliver autonomous attack systems to be installed along enemy ship routes, in order to establish control over any naval areas, including military, commercial, and other enemy ship routes.

[0019] - To prepare and execute massive attacks on enemy naval bases, ports, and bridges gradually, but in short time. - To create sonar networks for object detection and identification, precise coordinate determination, and tracking movement routes by combining several transport vehicles in different locations.

[0020] - To reduce the cost of attack systems by producing short-range strike devices with enhanced power through complete filling of the hull with explosives and shrapnel elements.

[0021] - To evade detection by hydro acoustic and noise-detection systems, including hydro acoustic buoys, due to minimal acoustic noise and the use of non-detectable materials.

[0022] The invention is illustrated by the following drawings:

[0023] Fig. 1 - Side view of the autonomous underwater transport vehicle;

[0024] Fig. 2 - Top view of the autonomous underwater transport vehicle;

[0025] Fig. 3 - Front view of the autonomous underwater transport vehicle;

[0026] Fig. 4 - Side view of the autonomous underwater transport vehicle mounted on a torpedotype device with autonomous propulsion and control systems, on a marching condition.

[0027] Fig. 5 - Top view of the autonomous underwater transport vehicle mounted on a torpedotype device with autonomous propulsion and control systems, on a marching condition.

[0028] Descriptions of the drawings:

[0029] 1 - Hull.

[0030] 2 - Internal longitudinal channels.

[0031] 3 - Opening segments.

[0032] 4 - Locking device.

[0033] 5 - Rotating device.

[0034] 6 - Propulsion block.

[0035] 7 - Cylindrical case (of propulsion block).

[0036] 8 - Electric motor.

[0037] 9 - Screw-type propeller.

[0038] 10 - Rudder blades.

[0039] 11 - Main bearing wings. 12 - Retractable wing sections.

[0040] 13 - Secure communication system.

[0041] 14 - Electronic block.

[0042] 15 - GNSS navigation system.

[0043] 16 - Inertial navigation system.

[0044] 17 - Streamlined post.

[0045] 18 - Antenna.

[0046] 19 - Sonar.

[0047] 20 - Video camera.

[0048] 21 - Thermal imager.

[0049] 22 - Rangefinder.

[0050] 23 - Gas-distribution actuator.

[0051] 24 - high-pressure gas mini-cylinders.

[0052] 25 - warfare installations.

[0053] 26 - self-destruction system.

[0054] 27 - ejector for torpedo-type device.

[0055] 28 - unified (standardized) mounting system for transporting non-standard cargo.

[0056] 29 - Ballast pneumatic stabilizers.

[0057] 30 - Torpedo-type device with autonomous propulsion systems.

[0058] The autonomous underwater transport vehicle is designed as a collapsible structure that can be fixed on the cylindrical body of a torpedo-type device at a specific point depending on the device type and center of gravity. Due to its collapsible structure and standardized mounting system with a locking device, it can be applied to any cylindrical devices. It includes a hull 1 made of high-strength plastics (polycarbonate, caprolon, ultra-high molecular weight polyethylene, etc.) with internal longitudinal channels 2 for housing power elements, electronic control and communication equipment, high-pressure gas mini-cylinders, and self-destruction devices, and is designed with opening segments 3. In the middle, along the upper side of the opening segments 3 of the hull 1 , a locking device 4 with an electronic drive is arranged.

[0059] Along the sides of the opening segments 3 of the hull 1 , there are the rotating devices 5 with the actuating mechanisms (actuators) for opening / closing the hull.

[0060] Propulsion blocks 6 are housed in cylindrical cases 7 made of silent waterproof electric motors 8 with direct-drive screw-type propellers 9 equipped with rudder blades for horizontal and vertical control.

[0061] The cases, screw-type propellers 9, and rudder blades 10 are made of high-strength plastics (polycarbonate, caprolon, ultra-high molecular weight polyethylene, etc.) that are radar-invisible.

[0062] The screw-type propellers 9 neither disturb water nor create air bubbles, therefore, they generate no sound vibrations, which would be detectable by sonars.

[0063] The suspension of the screw-type propellers 9 is based on permanent magnets with end spherical / needle supports operating almost silently.

[0064] The autonomous underwater transport vehicle is equipped with main bearing wings 11 having a high lifting force coefficient and additional retractable wing sections (planes) 12, which allow for significantly increased wing specific load. The wings are made of structural honeycomb polycarbonate with high load resistance and bending strength, having excellent technological and operational properties, and are equipped with front and rear hermetic multi-circuit connecting air / water exchangers of a streamlined shape. Thanks to the hollow longitudinal structure of the material, the entire internal volume of the wings can be filled with air or water as needed, creating an additional ballast buoyancy compensator. Additionally, the use of polycarbonate for manufacturing large-area wings ensures radar invisibility.

[0065] The autonomous underwater transport vehicle is equipped with a secure communication system 13 to provide for a secure communication (including satellite) with the command center.

[0066] The autonomous underwater transport vehicle is equipped with an electronic block 14 for managing the vehicle devices and functions, as well as for providing the passive GNSS navigation system 15, in order to maintain the set course, and also the inertial navigation system 16 for autonomously returning to the launch point in case of communication loss. The main goal of the above said is to return to a safe location, subsequently activate two-way communication systems with the command center, and enable further operator control. The autonomous underwater transport vehicle is also equipped with telescopic streamlined post 17 with antenna 18 mounted on a rotating (swivel) mechanism comprising integrated equipment such as sonar 19, video camera 20, thermal imager 21, and rangefinder 22.

[0067] The gas-distribution actuator 23 for position control, which ensures the selection and maintenance of the immersion depth, and stabilization of the horizontal position during transportation, is connected by hoses to ballast pneumatic stabilizers 24, namely, to the external inflatable variable-volume buoyancy devices arranged on the sides at the front and rear parts of the torpedo-type transported device, and also connected to high-pressure gas mini-cylinders 25.

[0068] The autonomous underwater transport vehicle can include electronic warfare installations 2J The autonomous underwater transport vehicle can be equipped with self-destruction system 27, which would become operable by operator command or automatically after a programmed time upon being pulled out of the water (approximate time of delivery to an enemy ship for examination in case of detection and capture with blocking by electronic warfare means, for explosive self-destruction together with an enemy search ship), or on being submerged to a depth greater than a specified depth, after detaching the torpedo in case of failure or damage to the torpedo autonomous underwater transport vehicle. The deactivation of the self-destruction system is possible through a special device and exclusively via physical connection through a special connector.

[0069] The autonomous underwater transport vehicle can comprise a unified (standardized) mounting system 28 for transporting non-standard cargo.

[0070] After manufacturing the structural elements of the autonomous underwater transport vehicle and ensuring its complete assembly, sequentially assembling and outfitting thereof are carried out.

[0071] To confirm the operability of all the units and components of the transport vehicle, there are conducted the laboratory and production stand tests, which are followed by trials in a working environment (open water, pool, etc.).

[0072] After the vehicle has passed the tests, and the electronic, electrical, and mechanical systems have passed the technical control thereof, and on confirming their readiness for the use, the autonomous underwater transport vehicle is packaged and sent to the point of its destination.

[0073] At the preparation points for the use, before launching the autonomous underwater transport vehicle with the torpedo device thereon, the elements of the power supply units and the electronic command unit provided with the pre-installed program including the precise coordinates and the delivery route of the torpedo device, the protocols for actions on data received autonomously from the own devices, and the protocols for responding to the operator commands, and other necessary information are inserted into the appropriate compartments with the connectors, then the compartments are hermetically closed.

[0074] After conducting the final physical installation procedures and testing the operation of the electronic systems, the autonomous underwater transport vehicle is outfitted with the device to be transported.

[0075] The outfitted autonomous underwater transport vehicle is submerged into water in a horizontal position, and then the process for testing the electronic system is initiated.

[0076] During testing, the pneumatic stabilization system for horizontally and vertically positioning automatically activates with stabilizing the initial position.

[0077] After completing the testing procedure, the programmed operation begins, and the autonomous underwater transport vehicle with the transported device autonomously proceeds along the specified course.

[0078] Upon reaching the designated coordinate point, without detaching the transported device, the electronic control block transmits its coordinates to the command center through the communication system. Subsequently, the system waits in a passive mode for the operator confirmation as for decision to detach the transported device,

[0079] At the same time, if there is an anticipated need to change the specified coordinates and continue the transportation, the operator replaces the executive program of the autonomous underwater transport vehicle.

[0080] If no commands are received after a repeated request, the autonomous underwater transport vehicle system detaches the transported device by default on activating its electronic systems beforehand.

[0081] After delivering the transported device to the finally specified coordinate point and detaching the transported device, the autonomous underwater transport vehicle autonomously returns to the initial coordinate point using the inertial navigation system in an underwater / subsurface mode with a streamlined antenna remaining above the water for passive reception of the GNSS coordinates and the operator commands from the control center.

Claims

CLAIMS1. An autonomous underwater transport vehicle comprising a hull, a power source, and an engine, characterized in that the hull is configured to have internal longitudinal channels for housing power elements, electronic control and communication equipment, high-pressure gas mini-cylinders, and self-destruction devices, wherein the hull has side mounts for attaching propulsion blocks; along the lateral sides of the hull, there are devices with rotating hinges and actuating mechanisms for opening / closing the hull; in the middle part of the hull along the upper side thereof, there is a locking device with an electric drive; the propulsion blocks are housed in cylindrical cases and provided with waterproof electric motors directly driving screw-type propellers; main wing block with an additional retractable part is connected to the lower side of the hull.

2. An autonomous underwater transport vehicle according to claim 1 , characterized in that the vehicle is equipped with an electronic control unit for devices and functions, and a system of secure satellite communication with a command center.

3. An autonomous underwater transport vehicle according to claim 1, characterized in that the vehicle is equipped with an inertial navigation system for autonomously returning to the launch point.

4. An autonomous underwater transport vehicle according to claim 1 , characterized in that the vehicle is provided with a longitudinal telescopic streamlined post comprising a rotating (swivel) mechanism, which post being equipped with an antenna, sonar, video camera, thermal imager, and rangefinder.

5. An autonomous underwater transport vehicle according to claim 1, characterized in that the vehicle includes electronic warfare installations.

6. An autonomous underwater transport vehicle according to claim 1, characterized in that the vehicle comprises a mounting system for transporting non-standard cargo.

7. An autonomous underwater transport vehicle according to claim 1, characterized in that the vehicle is equipped with a self-destruction system being operable by operator command or after a specified time following the detachment of the transported device, when it is being raised, or submerged beyond a specified depth in case of the vehicle system failure or damage thereof.

8. An autonomous underwater transport vehicle according to claim 1, characterized in that the vehicle comprises a gas-distribution actuator of a position control, which is configured to ensure the selection and maintenance of the immersion depth and stabilization of the horizontalposition during transportation, wherein the actuator being connected by hoses to ballast pneumatic stabilizers, namely, external inflatable variable-volume buoyancy devices located on the lateral sides at the front and rear parts of the transported device and connected to high-pressure gas minicylinders.

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