Research underwater vehicles. Underwater vehicles for the development of the sea depths
It is customary to divide unmanned (uninhabited) vehicles used in fleets (navies) into remote-controlled and autonomous. In 2016, both types of devices are widely represented.
By form factor, one can distinguish between devices similar to submarines, bathyscaphes, torpedoes, gliders, as well as robotic pop-up capsules. There are also robotic underwater mines "tuned" to one or another military equipment, for example, a ship of a certain class or even a specific model.
According to their purpose, underwater military vehicles are divided into devices for surveying the seabed and other objects - autonomously or in telecontrol mode. One of the main tasks is countering mining, detecting, classifying and localizing mines. The development of shock underwater robots is also underway. There are hybrid developments - the robot itself is not armed, but at the necessary moment it can activate a payload of one type or another (such as, for example, robocapsules that are being worked on by order of DARPA).
Terminology
, Russia
Promising development initiated by FPI. An underwater platform that should be able to solve problems at all depths of the oceans. On this platform, it is planned to work out the technology of remote sensing of the ocean floor. The laying of the device is scheduled for the summer of 2017. This will not be an isolated device, for its operation it will be necessary to have a complex that will ensure the transmission of information in real time from the main sensors, for which the device includes a base station-relay, which is placed in the area of \u200b\u200bthe "landing" of the device, ensuring its connection with the surface.
(Gavia), Teledyne (created by Harfmynd, Iceland), USA / (adapted by Tethys-Pro)
, Corporation of Special Purpose Space Systems "Kometa", Russia
An underwater sonar tracking system deployed by Russia on the basis of underwater robotic systems. Designed to detect ships, submarines and low-flying aircraft and helicopters in various areas of the oceans.
(Sea shadow), Okeanos, Russia
photo: CJSC "Scientific and production enterprise of underwater technologies Okeanos"
Autonomous uninhabited underwater glider. Can conduct search operations, deep-sea reconnaissance. Dual purpose device. It is being tested as part of advanced underwater systems of the Russian Navy in 2016. Type of apparatus - underwater glider.
Dolphin, JSC Tetis Pro, Russia
ANPA. Created before 2013. Adopted. The degree of "Russianness" is in question.
, Russia
The complex based on this NPA, as of 2016, has been in service with the Navy for several years, and is used for research and reconnaissance purposes. Can shoot and map the bottom, look for sunken objects.
, Russia
Uninhabited underwater vehicle with autonomy support (AUV). A robotic complex designed for underwater work - servicing drilling rigs, studying the sea day, monitoring underwater communications lines. For work at depths up to 6000 meters.
, JSC Tetis Pro, Russia
ROV. Used for civil and military purposes.
2017.03.14 By the end of 2017, the "search and rescue forces" of the Russian Navy will accept 12 Marlin-350 submarine robots.
2016.10.14 The Marlin-350 robot was used to survey the deepest karst Blue Lake in Russia. When examining one of the deep-water caves, the robot reached a depth of 279 meters - now it is considered the deepest point of the lake. It is not yet possible to go deeper due to zero visibility. / kbpravda.ru
(Glider), Russia
Underwater complex of glider type "Sea Shadow". The complex includes: a research glider, a glider-carrier of mini-devices, a glider-relay, a ship's control center and relay facilities. First introduced in 2017.
Nerpa, TsNIItochmash and MAKO (Rostec enterprises), Russia
In August 2018, Rostec demonstrated a prototype of an underwater unmanned vehicle equipped with small arms (APS). The robot has already passed the first tests (without weapons on board). The cost of development in the corporation was designated as 10 million rubles. Rostec is looking for a customer for their product in order to modify it to meet real needs. It is declared that the device is designed to protect bridges and warships from terrorists. It is assumed that the maximum immersion depth of the device will reach 50 m, the range of stable communication with it - up to 80 meters. The weight of the apparatus is less than 30 kg, the travel speed is 1 knot, the power reserve is 4 hours. | 2018.08.21 tass.ru (there is a photo)
Obzor, JSC Tetis Pro, Russia
ROV. Created before 2013. Adopted. The degree of "Russianness" is in question.
Pantera Plus, JSC Tetis Pro, Russia
ROV. Created before 2013. Cm. Seaeye Panther Plus, SAAB, Sweden. Not a Russian development. Bought in Sweden by Russia in the early 2000s.
Adopted by the Russian Navy, for example, such a robot operates the Kommuna ship, a rescue ship of the Black Sea Fleet in 2017.06.
, MAKO (NPG MAKO), Russia
photo: MAKO Research and Production Group
Autonomous surface-underwater robotic complex.
, Okeanpribor, Russia, St. Petersburg
Navigation and communication system. It was built on the basis of AUVs and sonar buoys connected via Gonets-D1M satellites to the command center. Buoys will be floating, underwater and frozen. The buoys work with GLONASS, which allows them to determine their exact location, as well as to clarify the location of AUVs, which are supposedly capable of patrolling depths of up to 8 km. This information needs to be updated. The buoys are equipped with AUV communication support. The buoy can operate in one of three modes:
1. Receive information from the satellite and transmit it at the request of the AUV.
2. The buoy can link various control centers (land, air, sea, etc.) with the AUV in real time. In this mode, you can directly control the AUV (telecontrol mode)
3. AUV operates autonomously, but is able to check with buoys for course correction. If necessary, the AUV can give an alarm signal through the buoy.
The system is ready for deployment. In December 2016, the readiness of the system and plans for its deployment on the Arctic shelf were announced.
Skif, Russia ()
Canyon in NATO classification. Russian unmanned strategic attack submarine. It can carry nuclear weapons on board, travel long distances. The information is not reliable, because the project is classified as of October 2016.
Underwater multi-purpose system, including self-propelled underwater vehicles with nuclear weapons on board. Habitable submarine equipped with up to 6 SPAs (self-propelled underwater vehicles), each of which can carry megaton class nuclear weapons as a payload. For December 2016, information about the tests carried out is being distributed.
, Rubin (TsKB "Rubin"), Russia
Submarine AUV, a target robot capable of simulating a variety of submarines. For December, 2016 - in the status "in development". Designed to allow abandoning the use of existing submarines as training targets, which is excessively expensive. Will be able to simulate nuclear and diesel-electric submarines, reproducing, in particular, their maneuvering.
, JSC Tethys Pro, Russia (Seaside Tiger, SAAB, Sweden)
ROV. Created before 2013. Adopted. Not a Russian development.
(Falcon), JSC Tethys Pro, Russia (Seaeye Falcon, SAAB, Sweden)
Seaeye Falcon, SAAB
ROV. The Seaeye Falcon has been in use around the world since 2002. Adopted by the Russian Navy. Not a Russian development.
Fugu, MAKO, Russia
Unmanned robotic complex with autonomous uninhabited glider underwater vehicles, designed to transmit combat control signals to strategic and missile nuclear submarines, collect information on navigation conditions in combat patrol areas. The device consists of underwater and surface parts. Freely turning fins, using the energy of the oncoming wave, move the underwater and tow the surface parts of the devices. On the surface there is a satellite communication system, a station for collecting oceanographic and meteorological data. The accumulators of the apparatus are powered by a "solar battery". The underwater part is equipped with miniature sonars, as well as a sonar modem capable of providing a communication channel with the nuclear submarine.
2016.10.14 The Navy began to receive the latest complexes for communication with submarines in the ocean. The main batch of complexes will be delivered in 2018 as part of the transition to 6th generation communication technologies. /vz.ru
2016.09 Russian nuclear submarines will be equipped with drone robots. Status - being tested by the Main Research and Testing Center for Robotics of the Ministry of Defense of the Russian Federation (GNITs RT) / vz.ru
Cephalopod, Russia
, Bluefin Robotics (General Dynamics), USA
Underwater military drone "Bluefin tuna". 4.9 m. Can launch small Sand Sharks underwater robots.
Echo Ranger, Boeing, USA
Echo Seeker, Boeing, USA
AUV, created in Iceland by Hafmynd ehf. Created before 2010. Used by the Russian Navy under the name "Gavia". It was purchased in the Russian Federation through JSC "Tetis Pro".
, OceanServer, USA
Developed in 2005. It was produced in various modifications: EP32, EP35, EP42, differing in battery power and body length. Purchased by various countries, including Russia, Croatia, etc. for civil and military purposes. The base price was $50,000, with a complete set (HBO + Doppler log navigation system) - about $150,000. By 2009, more than 100 complexes based on Iver 2 had been sold.
K-STER C
Disposable underwater robot - kamikaze, which serves to destroy sea mines by detonating them in the water. The head part of the robot is a warhead with a shaped charge.
, Kongsberg Defense Systems, Norway
Uninhabited underwater unmanned vehicle - "kamikaze" for detecting mines and destroying them by self-explosion. OSMDWS (One-Shot Mine Disposal Weapon System) - disposable systems for destroying mines. Equipped with a video camera, sonar and navigation system. The command to undermine is issued by the operator. According to the results of testing, they were adopted by the Norwegian Navy and NATO in 2016.
Mod 1 Swordfish, AUVAC, USA
The devices in 2016 are involved in the 5th fleet of the US Navy.
Mod 2 Kingsfish, AUVAC, USA
The devices in 2016 are involved in the 5th fleet of the US Navy. According to unconfirmed information, the robot can be under water for 24 hours. The robot collects information using underwater photography.
Poseidon, USA
Poseidon, an underwater analogue of the GPS global navigation system, which will allow submarines and AUVs to exchange information with each other and with control centers. Testing is expected to begin in 2018. Developed by order of DARPA.
, Kongsberg Maritime, Norway
Marine underwater autonomous robot.
2015.07 Remus-600 successfully launched and returned to the Virginia-class submarine (SSN-784)
RHMS, Lockheed Martin, USA
The RHMS system includes the Lockheed Martin RMMV multipurpose autonomous underwater vehicle equipped with Raytheon side-scan sonar. The device is able to dive to shallow depths and search for mines. It is possible to solve other tasks required by the US Navy. This is by design. Still, the development, which has been going on for more than 10 years, does not seem to have been very successful. During the tests, which were extended, the system failed too often. At the same time, she found mines even faster than the terms of reference required.
Sand Shark, Bluefing Robotics (General Dynamics), USA
Underwater reconnaissance robot. It is launched from the Bluefin-21 underwater military drone. Weight - 6.8 kg.
, SAAB, Sweden
Seaeye Falcon, SAAB
Seaeye Panther Plus, SAAB, Sweden
Also known in Russia as Panther Plus, "localized" by JSC Tetis Pro, Russia
ROV. Created before 2013. Adopted by the Russian Navy, for example, such a robot operates the Commune ship, a rescue ship of the Black Sea Fleet.
, SAAB, Sweden
Remote-controlled underwater vehicle of the ROV class of the "Sea Eye" family for observation and inspection of objects.
, Atlas Elektronik, Germany
Underwater remote-controlled device via fiber-optic cable for semi-automatic destruction of sea mines due to self-explosion. OSMDWS (One-Shot Mine Disposal Weapon System) - disposable systems for destroying mines.
sea glider
underwater glider (glider)
seascan
Underwater robot "precise identification". With the help of sonars and high-definition cameras, it can determine the size and type of objects in the water. Range - up to 2 km, immersion depth - up to 3000 m.
Sea WASP, SAAB, Sweden
underwater drone for detection and primary inspection of underwater explosive devices. WASP stands for Waterborne Aini-IED Security Platform. The drone is controlled by 2 operators on a cable up to 500 feet long. Achievable depths are up to 200 feet. The robot is 5.5 feet long and weighs about 200 pounds. Equipped with forward sonar, several sensors necessary for depth measurement and navigation. And two cameras - a large one on the front of the device and a small one on the "arm". It can be launched from a pier or beach, as well as from various types of surface ships and rubber boats. Announced May 2016 / popsci.com
Slocum
underwater glider (glider)
Spray
underwater glider (glider)
UFP (Upward Falling Payloads), DARPA, USA
2016.05.18 , which may contain a drone, missile or other military equipment as a payload. Capsules with a length of about 4.5 m are designed to be placed throughout the oceans. The sleeping capsule can be activated by a radio signal, upon receiving which the capsule will float to the surface of the ocean and release the payload. The onboard UAV of the capsule can be airborne or with the ability to take off and land from the water. DARPA has already tested a capsule recovery system from the bottom and a communications system. The agency is expected to continue developing and testing payloads for the capsule.
underwater vehicle of the future
The ocean is the largest and most alien habitat, here lies great power and overwhelming pressure. Until recently, access to this part of the planet was closed to mankind. Exploration of the underwater world has become possible thanks to modern underwater vehicles.
The ocean is teeming with food, resources, and even treasure. It has been little studied, since man is better adapted on land. Under water, he feels insecure. At a depth of 10 meters, the pressure doubles. With depth, the pressure becomes more and more felt. Ear pain is felt already a few meters from the surface. Pulsating pain can only be relieved by pinching your nose or blowing out your ears. The greater the depth, the more dangerous barotrauma. A person can only dive up to a few hundred meters, otherwise the pressure can crush him. As pressure rises, the world is changing dramatically. After a few meters, oxygen, which is the gas of life, becomes toxic. Therefore, divers have to breathe a carefully selected mixture of gases.
For some people, the dream of a lifetime was to dive and create marine machinery for underwater research, able to withstand high pressure and take a person to the underwater world. And they have achieved their goal - millions of divers work and rest under water. Many lives have been paid for this small achievement. The main danger is decompression or decompression sickness. The deeper a person dives, the more gas his body absorbs. If a diver suddenly begins to ascend too quickly, nitrogen bubbles form in his body. These bubbles can block small vessels and cut off blood flow to vital organs. The result is severe convulsions, chest pain and difficulty breathing. The gas begins to look for a way out, and a person can remain crippled or even die. The only salvation is a decompression chamber. By placing a person in a chamber, the number of bubbles in the blood is reduced, and oxygen helps to remove inert gases that threaten life from the body.
But despite the dangers, the ocean continues to attract people.
underwater vehicles
The world is full of enthusiasts who design underwater vehicles. Some machines are so light that they can even be carried. But at the same time, they are quite strong - the acrylic sphere of the apparatus is able to withstand water pressure at a depth of almost 1000 meters - deeper than most modern ones. Regular scuba diving allows you to dive to 30-40 meters.
submersible "Deep Flight Super Falcon"
manned underwater vehicle « Deep Flight Super Falcon"creates inside a pressure of one atmosphere - overboard 100 times higher. marine machine launched in 1996. underwater vehicle driven by an electric motor powered by batteries. The charge is enough for 4 hours. Diving depth up to 1000 meters. Acrylic housing protects pilots from deadly pressure of 100 atmospheres. " Deep Flight Super Falcon» is unlike other manned submersibles. Initially marine machine « Deep Flight Super Falcon"was a submarine designed for millionaire Tom Perkins (Tom Perkins) and his superyachts"" company " Hawkes Ocean Technologies". Noticing the demand for their development, company representatives decided to turn the design of underwater vehicles into a business. In addition to the original $1.3 million submersible, " Hawkes Ocean Technologies is selling an open-cockpit variant of mini-subs for $350,000.
submersible "Deep Flight Super Falcon" at depth
"Deep Flight Super Falcon" on the water
Submersible technical data « Deep Flight Super Falcon»:
Length - 3.5 m;
Wingspan - 2 m;
Immersion depth - 1000 m;
Speed - 6 knots;
Crew - 2 people;
walk on the underwater vehicle "SportSub"
marine vehicle "Aviator"
marine vehicle "Aviator"
project of the underwater vehicle "Deep Flight Aviator"
sea vehicle "Deep Flight"
sea vehicle «Deep Rover»
It is very important to create a machine capable of withstanding the underwater elements - this is a long-standing goal of mankind, because the ocean occupies 2/3 of the planet.
Some submersibles can independently explore the ocean. They are called uninhabited underwater vehicles. Today the underwater world is dominated by underwater robots. Smart, self-propelled robots build oil pipelines and various structures at great depths. Autonomous underwater vehicles or remote control devices (RCs) have heavy-duty housings, efficient manipulators and video cameras that transmit high-definition images. They have perfect motors and are controlled by commands transmitted through communication cables.
underwater robot "Oceaneering"
Uninhabited underwater vehicle« Oceaneering"can work at a depth of up to 6500 m, is able to lift 270 kg. His manipulator can perform seven actions.
Today underwater robots successfully cope with many tasks that were previously performed by divers - cleaning and repairing pipelines, replacing valves and checking their tightness. The oil and gas industry has contributed to the improvement of underwater robots. The reason for their development is economy and practicality. Oil company managers realized that the use of ROVs would save the cost of maintaining divers and also save many lives. The use of modern technologies has made underwater vehicles more reliable. Modern marine machinery they are powerful and efficient tools, but their effectiveness depends on the talent of their operators. Many of them are experienced video gamers. They use their unique skills in driving these wonderful sea machines. Good operators are able to mentally convert a two-dimensional image from the screen into three-dimensional.
"" Preservation of the Bentos-300 Underwater Laboratory and the creation on its basis of the People's Museum of Hydronautics in Sevastopol (Balaklava) will perpetuate the unique underwater laboratory and preserve the historical memory of the underwater technology created in Russia. Such a unique museum will not allow glorious pages from the history of hydronautics in Russia to be consigned to oblivion and will be extremely interesting for conducting promotional, educational and educational activities on the territory of Sevastopol and the Crimea. The museum, standing on the water, will become a kind of "calling card" of Sevastopol (Balaklava). Underwater laboratory "Bentos-300" is an engineering creation of Russian underwater shipbuilding of the Soviet period. It is, at the same time, an underwater vehicle, a submarine, an underwater house, a diving complex and a scientific laboratory. The project provides for the reconstruction of the original appearance of the Bentos-300 Underwater Laboratory, the repair of the metal lightweight and durable hull, the saturation of the compartments of the durable hull with materials on the history of hydronautics and the creation of an environment in the underwater part of the durable hull in which hydronauts-researchers worked and lived.
Museum visitors can get acquainted with a variety of materials that tell about the history of hydronautics, visit the environment in which hydronauts-researchers worked and lived, through the windows located under water, they will be able to observe the life of the underwater inhabitants of the Black Sea, and the work of the Bathyscaphe attraction will create sensations of real immersion of an underwater vehicle under water"
"Goal No. 1. 1. Creation of a museum of hydronautics in the city of Sevastopol on the basis of the Bentos-300 Underwater Laboratory. Should become an effective tool for uniting all those who took part in the design, construction and operation of Russian underwater vehicles. This kind of museum will not allow erasing of our memory, the underwater conquests made by hydronauts-researchers with the help of underwater technology and can serve as a revival of hydronautics in Russia and, as a result, increase interest in underwater research in the future to discover new energy, food and useful resources. "
"Task number 1. Recreate the original appearance of the Bentos-300 Underwater Laboratory, repair the light and durable laboratory building and give it the status of the Museum of Hydronautics.
Task number 2. Acquire and install the equipment necessary to provide the Underwater Laboratory "Bentos-300" with electrical energy, water and forced ventilation.
Task number 3. To restore and create elements of the original environment in which the hydronauts worked and lived inside the pressure hull. To design and install the Bathyscaphe attraction, which reproduces the situation of a real submersible underwater vehicle.
Task number 4. To saturate the compartments of the laboratory's solid body with exhibits, stands, photos and video materials that tell about the history of hydronautics in Russia."
"The preservation of the historical memory of underwater technical equipment created in Russia for civil and military purposes is of concern to a significant part of society. The Museum of Hydronautics, which is an object of culture, will become a center of education and additional education, career guidance and historical orientation. Commonwealth with military and civilian veterans - hydronauts, students of the cadet schools, students will provide an opportunity in the process of project implementation to involve not only project participants, but also representatives of public groups interested in underwater topics. the idea of conquering hydrocosmos."
The first underwater vehicles (UA) were built for purely scientific purposes. Their subsequent designs are developed mainly for the production of various engineering and technical works. The tasks solved with the help of manned underwater vehicles are very diverse, starting with the installation of deep-sea structures, laying cables and pipelines, and ending with monitoring their operation and repair work.
Due to the great diversity, underwater vehicles can be classified, for example, depending on the depth of immersion, into three groups.
The first group includes the most numerous submersibles for work on the continental shelf with a diving depth of up to 1000 m.
To the second - devices designed for a depth of 2000-4000 m and used within the continental slope. The third group of devices, designed for maximum depths, is represented by only a few samples.
For underwater construction, the first group of manned underwater vehicles is of particular interest, designed to perform underwater technical work at relatively shallow depths (-300-900 m).
The main criteria for a comparative assessment of underwater habitable vehicles are: working depth of immersion, crew size, life support system parameters, number of manipulators, transportability.
In table. 6.5 shows the main characteristics of some modern manned underwater vehicles.
The PC-1202 submersible with a block hull design, equipped with a diving compartment and adjustable length supports, is used to inspect the bottom, place explosive charges, take cores and soil samples, ensure the operation of power tools and video communication.
The design of the PA ''Beaver MK-IV'' is highly reliable and provides for emergency release of manipulators, batteries, anchors, etc., as well as the ability to move along all coordinate axes. Manipulators, a side-scan sonar, and a porthole with a diameter of 1 m provide photographic documentation, inspection of the bottom, washing cables into the ground and docking with underwater objects. For transportation of the PA ''Beaver MK-IV'', the C-141 aircraft is used.
The main characteristics of habitable underwater
| Type, country | working depth, m | Crew, PA, pers. | Crew of the support vessel, pers. | System vitality cookies, man-hour | |
| „Beaver MK-IV”, | 800 | 3 | 12 | 144 | |
| USA | | | | | |
| "Johnson - Sea Link", USA | 300 | 4 | 4 | Data absence ut | |
| RS-1202, USA | 900 | 4 | 4 | 52 | |
| "Beta" and "Gum" | 300 | 2 | 2 | 144 | |
| ma”, USA | | | | | |
| „Pices-VU”, | 900 | co 1 lt;N | 6 | 336 | |
| Canada | | | | | |
The ''Johnson - Sea Link'' apparatus is used for diving operations, as well as for photo and video recording. It is equipped with a device for docking the diving compartment with the deck decompression chamber of the support vessel.
The same type of devices “Beta” and “Gamma” are used for observation and search under water, washing cables into the ground, placing explosive charges and lifting heavy equipment from the bottom.
Canadian PA ''Pices-VII'' is used to monitor the condition of pipelines, bury cables into the ground and rescue operations. The device is transported by C-130 Hercules aircraft.
Submersibles are widely used for underwater construction; however, they require support vessels. Therefore, the use of underwater vehicles largely depends on hydrometeorological conditions.
It has been established that the utilization rate of autonomous underwater systems in the North Sea is three times higher compared to systems that have a surface carrier. The same work by autonomous underwater systems is performed 10-15 times faster. So, in Germany, a manned deep-water system DSWS has been developed for the production of various underwater works. The system consists of an underwater carrier of equipment and UWAG devices, providing a buoy, a transmitting device and two interchangeable capsules - drilling and diving (Fig. 6.18). The DSWS is intended for underwater survey; laying of cables and pipelines; soil sampling; bottom topography measurements; drilling wells up to 200 m deep; installation, maintenance and repair of underwater structures; transportation and installation of heavy
devices
Table 6.5
underwater structures; deep-sea diving of four to five divers to a depth of 500 m.
The habitable carrier is supplied with power from two diesel generators installed on a support buoy made in the form of a ship. With the help of power and broadcast cables,
Rice. 6.18. Manned deep-sea system for underwater operations.
1 - providing buoy; 2 - power and broadcast cables; 3 - underwater carrier.
uninterrupted supply of current with a voltage of 3.3 kV to the carrier during rough seas. The cable winch with a pulling force of 3000 daN and a cable winding speed of 0.5 m/s is driven by a 30 kW DC motor.
To ensure the maneuverability of the carrier, the buoy follows it at a given distance and at the same time serves as a carrier of a barrier sign to notify passing vessels of underwater operations.
Working immersion depth, m 600
Displacement, t:
surface 225
underwater 290
Speed, knots 5
Underwater autonomy, h 336
Length, m 22.2
Width, m 8.3
Height, m 10.9
Power of travel motors, kW 4x30
Thruster motor power, kW 2x18.5
Payload capacity, t 25
Carrying capacity with additional buoyancy, t 50
Crew, people 6-8
Number of divers, people 2-4
The body of the carrier consists of three spheres interconnected by strong inclined shafts. In the upper sphere with a diameter of 4 m there is a control post, and between the bow and stern spheres there is a working shaft measuring 5.5x3.6x5 m. tools.
The carrier delivers to the workplace a diving capsule, which ensures the work of divers for 800 minutes at a depth of 300 m, and a drilling capsule weighing 22 tons, made in the form of a cylinder with a diameter of 3 and a length of 5.6 m with a conical bottom and a docking device in the upper part. Using a drilling capsule with a set of drill rods, it is possible to drill a well with a depth of 200 m, a diameter of 120.6 or 152.4 mm and take a core in three to eight days.
The drilling rig is equipped with an independent hydraulic drive and is serviced by two or three operators.
In the design of the considered vehicles, there is a clear relationship between the maximum diving depth, speed, autonomy, payload, volume and mass of the underwater vehicle.
The immersion depth determines the excess pressure on the PA, and, consequently, the design of all devices and the mass of the device as a whole. The mass displacement of the vehicle afloat W is the sum of the mass of the capsule WK, the payload Wn, as well as the mass of the crew, mechanisms and systems to ensure the operation of the mechanism Wp:
W = WK + Wn + Wp.
As a result of the analysis of the available data, a formula was derived to establish the relationship between the main design parameters of the UA:
where W is the mass displacement of the apparatus afloat, pounds; R - range of the apparatus, miles; Wn - payload, pounds; H-depth of immersion, feet.
The relationship between the depth of immersion and various technical characteristics of modern PA is illustrated by graphs and diagrams in fig. 6.19 and 6.20.
The development of underwater oil and gas fields, the construction of deep-water ports, the laying of submarine cables and pipelines require the creation of high-performance underwater vehicles operating on the principle of land-based construction machines.
The Japanese firm Komatsu, part of the government-funded Underwater Research Group, has developed an underwater bulldozer for depths of up to 60 m, which is controlled by
either by a diver or by cable from a support vessel. The design of the underwater bulldozer is based on the coastal bulldozer D155A, which is widely used in a number of countries. Instead of the diesel engine installed on the D155A bulldozer, a sealed electric motor was installed on the underwater bulldozer, connected by a cable to the support vessel. The area served by the bulldozer is 100 m2. The designs of underwater bulldozers, including those controlled by radio, are discussed in more detail in § 6.5. .
In Houston (USA), a conventional caterpillar excavator with a bucket capacity of 0.58 m3 has been converted for digging an underwater trench along the offshore sewage discharge route. The diesel engine, hydraulic pump, electrical equipment and cabin were dismantled from the excavator. Due to the lack of the necessary support vessel in the area of work, the engine and pump were installed on the shore, and power and other cables 135 m long were fixed on the excavator. To increase the stability of the excavator with the equipment removed, a pile hammer weighing 1 ton was used as a counterweight.
Before starting work, a guide cable was laid, along which the excavator passed to the site of the proposed installation of the outlet head. After that, the excavator began to dig a trench from the sea towards the shore. The depth of the trench varied from 1 to 1.5 m, and the width from 1.8 m at the bottom to 7.2 m at the top.
The re-equipment of the excavator was completed within three days at a cost of about $2,000, and the cost of installing a cable line was about $5,000. The underwater trench was dug in 2.5 days. After the work was completed, the excavator was re-equipped and again used for land excavation.
For the mechanization of underwater drilling in the UK, a pneumatically driven crawler drilling rig was used. The Ingesol-Rond type unit is equipped with five times longer than a conventional air hose, special sealing devices and an elevation for controlling the unit. To supply air to the drill at a pressure of 84 MPa, a hose 54.9 m long is used. Depending on the working depth, the air pressure is reduced to 56-63 MPa.
The drilling rig is lowered under water by a crane mounted on a barge. Drillers, trained in diving, operate the drilling rig. To avoid rapid wear, the drilling rig is lifted out of the water after the day's work is completed, the drill is lubricated and the drive and control system is checked.
Thus, over several decades, man has moved from timid probing the depths of the World Ocean to its systematic exploration and development with the help of underwater vehicles and their varieties - underwater construction machines.
- these are special technical equipment designed for underwater scientific research, search operations, all kinds of repair and rescue work.
Deep-sea submersibles include submersibles with a submersion depth of more than 600 m.
According to their functional purpose, deep-sea submersible vehicles can be divided into oceanographic for research observations and devices for search and rescue and assembly and dismantling works.
Depending on the purpose, they are equipped with search and targeting systems, various grippers and tools for performing work.
Deep-sea submersibles are manned and uninhabited
Manned deep-sea submersibles are controlled by a crew (2-6 people), located in a strong hermetic case, have life support systems, communication and navigation facilities, manipulator controls, power supply facilities (batteries) and emergency rescue facilities. The shape of a strong hull of a deep-sea submersible, depending on the depth of immersion and purpose, is cylindrical (hydrostats) with reinforcement of the outer skin with frames, spherical or hemispherical (bathyspheres). Steel, aluminum, titanium, as well as reinforced fiberglass are used as body materials. The robust hull of the deep-sea submersible has an entrance hatch, portholes, and rescue vehicles have a docking station and an airlock in the lower part of the hull. With an increase in the depth of use of a deep-sea submersible, the design and shape of the robust hull change, and its mass increases. Up to a depth of 2000 m, the hull shell is reinforced with frames. Deep-sea submersibles for great depths have a thick-walled, durable hull made of alloy steel by forging. Thus, the thickness of the walls of the Trieste bathyscaphe, on which a record depth of 10919 m was reached on January 23, 1960, is 105 mm. To impart positive buoyancy to the robust hull of a deep-sea submersible intended for diving to a depth of more than 6000 m, an additional volume filled with a lightweight filler (most often gasoline with a density of 0.7-3) is required.
The autonomy of manned deep-sea submersibles is from 8-12 hours to 2-4 weeks, the speed is 6-12 km/h, some have a pop-up wheelhouse for emergency crew rescue. The robust hull of the deep-sea submersible is closed from the outside with a permeable lightweight hull, which serves to impart hydrodynamic characteristics to the vehicle, to accommodate the propulsion and steering complex, manipulator actuators, lamps, television and scientific equipment. Between the strong and light hulls there are ballast tanks and ballast discharged in emergency situations.
Uninhabited deep-sea submersibles - tethered, towed - controlled by cable from a remote control located on the carrier vessel. They move in the water column or move along the bottom. They are equipped with television equipment, lamps, have depth stabilization, manipulators, their navigation system is connected to the navigation system of the carrier vessel, power transmission is via a cable-rope (immersion up to 100 m). Self-propelled vehicles are equipped with propulsion and steering systems controlled according to a given program. Uninhabited deep-sea submersibles are mainly used in the search and survey of sunken objects and for underwater drilling. The development of deep-sea submersibles follows the path of creating specialized uninhabited vehicles.