JPS6229717B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a diving device for underwater vehicles having positive buoyancy, that is, floating launch type underwater vehicles such as diving guides and torpedoes whose self-weight is smaller than their own displacement.

In order to submerge a floating launch type underwater vehicle, seawater is injected into the ballast tank to create negative buoyancy and the submersible submerses, then activates the submersible rudders and uses the hydraulic force acting on them to generate a vertical component force. It is customary to dive to the desired depth. In addition, for torpedoes, etc., the entire underwater vehicle is submerged in water using a launcher such as a drop-shooter, and when the entire underwater vehicle is underwater, the propulsion device equipped on the underwater vehicle is activated. Submersible navigation is carried out by utilizing the hydraulic power that acts on a steering wheel such as a submersible rudder due to the propulsion force.

However, filling and discharging the ballast tank requires expensive equipment, and it is not a good idea from the standpoint of space utilization for the underwater vehicle. In addition, the use of launch devices such as epi-firing devices cannot be used for underwater vehicles floating on the water surface, and the launch devices are expensive, and there is also the disadvantage that ships, navigation aircraft, etc. equipped with these devices are indispensable. .
It is also conceivable that the underwater vehicle be launched under its own power and submerged while floating on the water surface.

However, when diving an underwater vehicle that has positive buoyancy and floats on the water surface, it is difficult to steer due to air bubbles created by the propeller's agitation of the water surface, and the propeller's downward force, that is, the head-up moment. It is very difficult to dive. SUMMARY OF THE INVENTION An object of the present invention is to provide a diving device for a floating launch type underwater vehicle that can reliably submerge an underwater vehicle floating on the water surface without using an expensive launching device.

Therefore, in the case of diving an underwater vehicle having positive buoyancy, the diving device for a floating launch type underwater vehicle of the present invention accelerates the underwater vehicle near the water surface, and then accelerates the underwater vehicle's propulsion device. The submersible vehicle is stopped and a head-down moment is generated in the underwater vehicle, causing it to dive until it reaches a certain depth. After the underwater vehicle reaches a certain depth, the underwater vehicle's propulsion device is activated to allow the underwater vehicle to continue diving. It is characterized by the fact that

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a diving device for a buoyancy-launched underwater vehicle according to the present invention will be described below with reference to the drawings.

A control device for an underwater vehicle usually consists of what is shown in FIG.

That is, a controller 1 that controls the attitude and speed of the underwater vehicle, various sensors 3a, 3b that detect the attitude, etc.
3c, a steering device 2a that moves the rudders 2b and 2c based on commands from the controller 1, a battery 4 as a power source, an electric motor 4b that generates power, a propulsion device 4c that converts this into propulsive force for an underwater vehicle, and a battery. This is a contactor 5 for propulsion control located between the electric motor 4a and the electric motor 4b. Here, a fuel engine propulsion system may be used instead of the battery 4a and electric motor 4b. Further, a speed controller may be used instead of the contactor 5. In the diving device for a floating launch type underwater vehicle of the present invention, when the underwater vehicle configured as described above is launched floating on the water surface as shown in A in FIG. 1, the propeller stirs the water surface and causes an asymmetric By creating a flow, the propulsion force of the thruster generates a downward force, that is, a head-up moment on the underwater vehicle, and due to the cavitation vortex generated in the thruster, the diving moment generated at the submersible rudder is reduced. Unable to dive, the inventors determined the rudder angle (upper 10
It was created by confirming that underwater vehicles cannot dive even under various combinations of buoyancy (+20 to +5 Kg), trim (UP10 to DN10 mm), speed (8 to 20 Kt), etc. It is.

The diving device for a floating launch type underwater vehicle of the present invention includes:
The underwater vehicle floating on the water surface is propelled by the propeller 4c, and the propeller 4c is stopped at point B in FIG. 1 when it reaches a constant speed. As a result of stopping the propulsion unit 4c, the turbulence of the water flow caused by the propulsion unit disappears, the head-up moment acting on the underwater vehicle decreases, and the head-down moment due to the hydraulic force acting on the rudder 2b increases rapidly, and due to the synergistic effect, the underwater rudder operation is reduced. The body begins to dive, and the first
The predetermined depth state c shown in the figure is reached. In this state, if the propulsion device 4c generates propulsive force again and returns to normal cruising, the cruising will stably navigate underwater from then on.

According to experiments conducted by the inventors, it has been found that the time from A to B in Figure 1 is about 8 seconds, and the time from B to D is about 5 seconds.
By starting, stopping, and activating the propulsion device 4c using a timer, an underwater vehicle that normally exists in a floating state on the water surface can be easily submerged from a state where it is simply floating on the water surface without using a special starting device. be able to.

Further, according to this device, an existing underwater vehicle can be easily submerged by simply adding a timer without requiring the addition of any special equipment.

In the above explanation, it has been described that the start and stop of the thruster 4c is controlled by a timer, but this may also be done by a signal from the depth sensor 3a, and the controller 1 shown in FIG. 2 may have a built-in computer. By using this, the present invention can be easily applied to known underwater vehicles without modifying the hardware.

Further, in the above-described embodiments, diving was described from a state of floating on the water surface, but it goes without saying that the present invention can also be applied to an underwater vehicle launched from a launcher.

In short, the present invention makes it possible to easily submerge into a steered vehicle by cutting off the propulsion force of an underwater vehicle traveling on the water surface, without adding anything special to the existing underwater vehicles. It was developed with a focus on this phenomenon, and does not require the addition of any special equipment to existing underwater vehicles, but instead temporarily stops the propulsion of the underwater vehicle while it is navigating on the water surface, and reduces the propulsion force after diving. With a simple configuration in which the water is re-applied, it can be easily submerged from a state floating on the water surface, and is particularly suitable for diving of floating launch type underwater vehicles that do not have a launch device.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing a diving situation of an underwater vehicle from surface navigation, and FIG. 2 is a control block diagram for controlling the underwater vehicle. 100...Underwater vehicle, 1...Controller, 2a...
...Steering gear, 2b...Longitudinal rudder, 2c...Horizontal rudder, 3a...
...Depth sensor, 3b...Other sensors, 3c...
...Tilt sensor, 4a...Battery, 4b...Electric motor,
4c... propeller, 5... contactor.

Claims (1)

[Claims] 1. When diving an underwater vehicle with positive buoyancy, after accelerating the underwater vehicle near the water surface,
The propeller of the underwater vehicle is stopped, the underwater vehicle is caused to generate a head-down moment, and is forced to dive until it reaches a certain depth.After the underwater vehicle reaches a certain depth,
A diving device for a floating launch type underwater vehicle, characterized in that the propeller of the underwater vehicle is activated to continue diving.