KR101605112B1 - Method and Apparatus for Removing Mines in the Sea - Google Patents

Abstract

The present invention relates to a method and apparatus for removing a mine, and more particularly, to a mine system capable of removing a mine installed underwater by using two autonomous unmanned submersibles having a mine detection and mapping function and a mine clearance function To a method and apparatus for removing underwater mines.

The present invention accurately identifies the position of a mine, accurately detects the mine so that the mine can be quickly removed using the dedicated submersible for submersion, maps the mine area, and removes the underwater mine A method and an apparatus are provided.

According to an aspect of the present invention, there is provided a method for detecting a mine by a mine detecting submodule, And

And dismantling the mine area using a plurality of mine clearance submersibles.

According to another aspect of the present invention, there is provided an unmanned underwater mine detection system comprising: a mine detection submodule for recognizing and transmitting a mine distribution and a type of mine in an operation area within a short time;

A tactical terminal for establishing a disarmament operation based on the mine location information provided from the unmanned submersible for mine detection and transmitting the established operation information; And

And a plurality of mine clearance submersible units for performing a cancellation operation by means of a self-length following the mine location based on the mine information input from the tactical terminal, characterized by comprising an underwater mine clearance device .

Tactical terminal, MCM, MDV, mine,

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for removing underwater mines,

The present invention relates to a method and apparatus for removing a mine, and more particularly, to a mine system capable of removing a mine installed underwater by using two autonomous unmanned submersibles having a mine detection and mapping function and a mine clearance function To a method and apparatus for removing underwater mines.

A mine is a bomb placed on water or water to destroy an enemy ship. There are acoustic mines, magnetic mines, and hydraulic mines, depending on the sensing device.

Conventional mine detection method uses a method in which the manned operation line, which is in charge of the reconnaissance mission, is equipped with magnetic / acoustical equipment and directly explores a sea area where a mine is expected to be present. The manned line can also cause damage to the mine because of the mine target, and exploration using the submersible can be exposed to enemy operations. However, if a mine is installed, more than 4,000 will be put into service at a time, and even if the bombing causes a large number of mines to land in the area of destruction (removal of dangerous goods such as mines laid on the sea for safe navigation) I bring a delay to the schedule.

The present invention has been made under the background as described above, and it is an object of the present invention to provide a mine detecting apparatus and a mine detecting apparatus, which secretly and precisely specifies a position of a mine, accurately detects a mine so that a mine can be quickly removed using a dedicated submersible submersible, The present invention is directed to a method and apparatus for removing a mine from a mine through a process of creating and disposing of a mine.

According to an aspect of the present invention, there is provided a method for detecting a mine by a mine detecting submodule, And

And dismantling the mine area using a plurality of mine clearance submersibles.

According to another aspect of the present invention, there is provided an unmanned underwater mine detection system comprising: a mine detection submodule for recognizing and transmitting a mine distribution and a type of mine in an operation area within a short time;

A tactical terminal for establishing a disarmament operation based on the mine location information provided from the unmanned submersible for mine detection and transmitting the established operation information; And

And a plurality of mine clearance submersible units for performing a cancellation operation by means of a self-length following the mine location based on the mine information input from the tactical terminal, characterized by comprising an underwater mine clearance device .

The task of dismantling should be completed within a short time of up to two days as the key task is to shorten the dismantling time. When using a remotely operated vehicle (ROV), which is operated through cable control as in the conventional method, the operation is very difficult and the mine hunting ship (MHS) approaches to the vicinity of the mine, And it was necessary to dismantle all the mines remotely by using the image information provided by the ROV. However, according to the present invention, it is possible to quickly and surely remove the target mine by approaching the mine by autonomous control by inputting a plurality of dissolving equipment at a remote location at a time and self-exploiting the target mine and the near distance.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a configuration of an apparatus of the present invention, which is composed of an MCM 100 for mine detection, an unmanned submersible 300 for mines and a tactical terminal 200.

One or more Mine Countermeasures (MCM) 100 for detecting a mine are recognized and transmitted to the tactical terminal 200 in a short time by recognizing the mine distribution and type of the mine in a short time. The MCM 100 is preferably implemented as an autonomous underwater vehicle (AUV) equipped with magnetic, heat source, chemical, optical and underwater acoustical sensors for mine detection, but in some cases, (Unmanned Surface Vehicle, USV). The Mine Disposal Vehicle (MDV) 300 is then guided to the location of the mine based on the mine information (position, type) input from the Tactical Command Unit (TCU) 200, And so on. The tactical terminal 200 establishes a cancellation operation on the basis of the mine location information provided from the detection unmanned submersible 100 and inputs the established operation information to the unmanned submersible 300 for mine clearance.

Figure 2 shows a flow diagram of the method of the present invention.

The step of the method of the present invention includes a step of creating a mine detection and distribution map by the mine detection unmanned submersible 100 (S10). Subsequent to the creation of the mine detection and distribution map, step S20 is performed to exchange information with the unmanned submersible for mine detection through the tactical terminal 200 and to instruct the unmanned submersible 300 for mine clearance to mine area And then the mine area is drilled through the unmanned submersible 300 for mine clearance (S30).

The mooring method of the mine in the step S30 is a magnetic type which responds to the magnetic field of the hull, an acoustic type which responds to specific acoustic characteristics emitted by the hull, a contact type which reacts when the hull directly touches the explosive device, , A pressure type which responds to the pressure generated when disturbing the surrounding fluid field when the hull is moving, and a combination type which is a combination of the above two types of reaction.

However, in the conventional mine removal method, after the carpet was bombarded in the area where the mine was laid, the mine exploitation was conducted by towing the mine explosive derivative to induce the mine exploitation. However, in the case of complex mines, it is not easy to remove them with only derivatives. In recent years, mines have been detected using the Remotely Operated Vehicle (MDV) Although this method has been developed, it is difficult to remove individual mines, and it takes much more time.

The present invention overcomes the problems of the prior art by a simple step of detecting the mine, indicating the disappeared to the detected mine, and abandoning the mine area. In this way, the mine area to be destroyed can be completed faster and more covertly and quickly than before.

FIG. 3 is a diagram specifically illustrating a method flow diagram of the present invention of steps S1O and S30 of FIG.

Hereinafter, the flow of the method of the present invention will be described in detail with reference to FIGS. 1 and 3. FIG. In step S10, it is preferable to input a plurality of MCMs 100 to grasp the position of the mines in the operation area, and quickly grasp the overall arrangement of the mines. The MCM 100 uses the speculative navigation system as a navigation device, but it intermittently floats on the surface of the water and corrects the GPS to eliminate accumulated errors that may occur during the speculative navigation. The MCM 100 firstly checks an object assumed to be a mine by using an underwater acoustic sensor and confirms that the estimated object is a mine through magnetic, heat source, chemical and optical sensors, approaches the object, do. It also stores the location of the mine in conjunction with internal navigation information.

The MCM 100 creates a mine distribution map for the operation area based on the location of the collected mines (S10). Subsequently, the mine area abandonment process of the above-described step S30 is performed.

In this process, the location information of the individual mines is input to the MDV 300 based on the mine distribution map obtained at step S10. At this time, a mine distribution map is created for the operation area through the TCU 200, and the input of the location information of the individual mines is performed. The TCU 200 is informed from the MDV 300 of whether or not the operation can be performed, and inputs the location of the target mine to be targeted to the MDV 300 notified that the operation can be performed.

The MDV 300 receives the location of the target mine from the TCU 200. After obtaining the target mine, it navigates toward the target mine, and self-destroys the mine near the target mine. Through this process, the mine search process using the MCM 100 And the MDV 300 are completed. In addition, you can repeat the process of mine detection and distribution mapping to add a final confirmation of the destruction of the mine in the area.

Specifically, the battery module is mounted on the MDV 300 separated from the mobile box (S31). The battery of the unmanned submersible is generally mounted inside the pressure vessel of the unmanned submersible. In the present invention, the battery module is formed as a separate module outside the pressure-resistant hull, and the need for additional maintenance for replacement of the battery due to natural discharge of the built- Can be eliminated. With such a battery mounted, power is applied to an internal device such as the MDV 300 explosive device (to be described later) and a mounting sensor. Next, the state of whether the artificial intelligence of the MDV 300 can perform the function of the MDV is checked (S32). It is determined whether or not the mission is possible, and information about the mission is transmitted to the TCU 200 through a remote communication module such as RF communication (S33). The TCU 200 calculates the optimal horizontal path length L according to the coordinate of the target mine and the depth D of the target mine according to FIG. 4 showing the optimal path defined by the path derivation method, And transmits the information to the mission-enabled MDV 300 via the remote communication module.

FIG. 4 shows definitions and derivation processes for the above D and L. FIG. In the figure, D is the depth of the mine, L is the horizontal distance from the MDV to the mine, and the optimal value for each D is used according to the dynamic characteristics of the MDV 300. In this case, it is preferable to determine the optimum value of D and the optimal hydrodynamic path on the basis of the optimum value of D before the mass production of the MDV 300, and follow it in actual operation.

The MDV 300 receives the location information from the GPS in the acquisition step (S34) and performs the sleep navigation toward the target mine (S35). At this time, it is preferable that the body part of the MDV 300 is completely submerged in the water surface, and the GPS and the telecommunication antenna module are designed to have a slight positive buoyancy (a state in which the buoyancy is larger than the weight) This is to avoid GPS signals being received below the surface of the water and intermittently covering the antenna with waves. Therefore, it is preferable to install the GPS antenna as high as possible above the body of the MDV 300. During sleep navigation using GPS, the MDV 300 performs an in-flight alignment process to complete initial positioning and parameter setting of the Inertial Navigation System. On the other hand, the MDV 300 performs a task of correcting the magnitude of the self-compass (deviation between the magnetic north pole and the true north) using the radar angle information provided from the GPS while performing the sleep navigation. When the MDV 300 reaches a relative horizontal distance (L) with respect to the target mine inputted from the TCU 200 in advance while making a straight voyage toward the target mine, the submarine starts to submerge along the optimal path input from the TCU 200 S36), and performs path-following control for following a previously input path. Since the GPS information can not be received in this process, the MDV 300 accesses the target mine based on the estimated navigation position information obtained based on the information of the inertial measurement device, the depth meter and the magnetic compass, and confirms the target (S37). The MDV 300 transmits the fact to the TCU 200 as a signal when it determines that there is an obstacle ahead by activating the obstacle sensor (described later) at the position received from the TCU 200, ) Is activated (S39 ') to destroy the target mine.

If the target mine can not be confirmed at the position received from the TCU 200 in advance, it is determined that the mine removal mission is failed (S39).

5 shows a flow chart of the procedure in case of mission failure.

First, the MDV 300 floats above the water surface (S39a). In step S39b, the TCU 200 is notified of the operation failure by using the remote communication such as the RF communication, and receives a command related to the subsequent procedure. After the MDV 300 has surfaced to the surface of the water, it can receive the GPS signal. Therefore, the navigation system is moved to the first site designated by the TCU 200 with the help of the GPS navigation system (S39c) Module) to remove the risk of explosives mounted on the MDV 300 (S39d). Then, the process moves to the second collection site (S39e), and waits for the recovery of the MDV 300.

FIG. 6A shows a preferred embodiment of the MDV of the present invention in 3D, and FIG. 6B shows a preferred embodiment of the 2D representation of the MDV of the present invention.

As shown in FIGS. 6A and 6B, the obstacle detection terminal 300-01, the explosive 300-02, the depth meter 300-03, the magnetic compass 300-04, the computer 300-05, The inertial measurement device 300-06, the propeller motor 300-07, the rudder motor 300-08, the GPS antenna 300-09, the telecommunication antenna 300-10, the hinge 300-11, A battery 300-12, a rudder 300-13, and a propeller 300-14.

As described above, the obstacle detection sonar 300-01 is an underwater sonar for detecting an obstacle, the explosive 300-02 is a explosive for mine removal, and the depth meter 300-03 measures the depth of the mine The magnetic compass 300-04 is a device for measuring the orientation of the magnetic field radiated from the mine, the computer 300-05 is for performing artificial intelligence, the inertial measurement device 300-06 is a device for measuring MDV And the propeller motor 300-07 is a motor for driving the propeller 300-13 that propels the MDV 300. [ On the other hand, the rudder motor 300-08 is a motor for driving the rudder of the MDV 300, the GPS antenna 300-09 is an antenna for receiving a signal from the GPS, The hinge 300-11 is an antenna contact structure, the battery 300-12 is a power source of the MDV 300, the rudder 300-13 is an antenna for receiving a remote communication signal such as an MDV (300), and the propeller (300-14) is a device for propelling the MDV (300).

Hereinafter, the MDV 300 will be described in more detail.

The GPS antenna 300-09 of the MDV 300 is configured such that it is as high as possible on the surface of the water to avoid the signal being cut off due to the influence of the wave. For this, as shown in FIGS. 6A and 6B, it is preferable to attach the GPS antenna 300-09 to the end of the remote communication antenna 300-10. At this time, it is preferable that the telecommunication antenna 300-09 is made of a flexible material so as to reduce the possibility of breakage due to collision with other objects. Further, since the telecommunication antenna 300-10 may be broken during the movement, when the mobile telecommunication antenna 300-10 is folded in the longitudinal direction of the hull when moving, only when the MDV 300 is operated, the telecommunication antenna 300-10 has a structure spreading as shown in Figs. 6A and 6B It is desirable to add an antenna folding hinge structure 300-11. In addition, in the case where the MDV 300 is submerged in the water, GPS and RF communication are not possible. Therefore, in this case, it is preferable to operate the antenna with the antenna placed thereon for the first time to reduce the hydrodynamic resistance.

 The navigation sensor of the MDV 300 for performing the dismantling work is basically composed of a GPS 300-09, an inertial measurement device 300-06, a magnetic compass 300-04, and a depth meter 300-03 And may further include an underwater acoustics device such as a speedometer and a USBL (Ultra Short-Baseline). Since the inertial measurement device 300-06 is composed of a 3-axis accelerometer and a 3-axis gyroscope, it is preferable that the inertial measurement device 300-06 is positioned at the center of gravity of the fuselage. Otherwise, it is necessary to effectively compensate for the lever-arm effect caused by the deviation of the inertial measurement device from the center of gravity, but it is not easy to accurately compensate for this effect, so it is preferable to avoid such a configuration as much as possible.

It is preferable that the magnetic compass 300-04 is placed in the front portion of the pressure-resistant container and the obstacle detecting sensor 300-1 is mounted in the bow to avoid the influence of magnetic field disturbance and noise due to the motor rotation at the tail of the fuselage. It is preferable that the computer 300-05 for carrying out artificial intelligence should be included in the inside of the pressure hull, and all the devices should be designed so as not to be damaged in the impact generated when moving or getting into the ship. The depth gauge 300-3 is desirably provided outside the pressure-resistant container so as to be able to communicate with the pressure-resistant container through an underwater connector. It is preferable that the explosive 300-2 is installed outside the pressure-resistant container so that the explosive force for removing the mine is not reduced.

In order to carry out the above-described dismantling work procedure, it is preferable that the explosive is made to be detached from the MDV 300 automatically when necessary. It is preferable for the battery 300-12 to be connected to the outside of the MDV 300 through an underwater connector so as to supply power to the inside of the pressure vessel and the detonator. Of course, the waterproofing and pressure-resistant treatment of the equipment mounted outside the pressure-resistant container must be designed to be basically satisfactory. Although the propulsion device of the MDV 300 may be constructed of a waterproof water motor, it is also preferable to dispose the motor 300-07 inside the pressure-resistant container in terms of cost reduction. It is preferable that a propeller of the propulsion device is provided with an external duct so as not to be exposed to the outside, and a propeller and a rudder (300-13) are installed inside the duct. As shown in Figs. 6A and 6B, a rudder motor 300-08, which is a rudder steering servo motor, is disposed inside the pressure hull, and the rudder motor 300-08 And a servo motor having its own waterproofing and pressure-resistant processing may be disposed outside the pressure-resistant container so that the rudder 300-13 can be directly manipulated.

As for the work of the dismantling, the shortening of the dismantling time is the main task, and it should be completed in a short time within a maximum of two days. When using a remotely operated vehicle (ROV), which is operated through cable control as in the conventional method, the operation is very difficult and the mine hunting ship approaches the vicinity of the mine, Because all the mines must be dismantled by hand, much time has been required for the dismantling work. However, according to the present invention, it is possible to quickly and surely remove the target mine by approaching the mine by autonomous control by inputting a plurality of dissolving equipment at a remote location at a time and self-exploiting the target mine and the near distance.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the present invention is not limited thereto and that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the appended claims. And such modifications and variations are to be construed as being within the scope of the invention.

1 shows a configuration of an apparatus of the present invention.

Figure 2 shows a flow diagram of the method of the present invention.

FIG. 3 is a diagram specifically illustrating a method flow chart of the present invention of steps S10 and S30 of FIG.

FIG. 4 shows definitions and derivation processes for the above D and L. FIG.

5 shows a flow chart of the procedure in case of mission failure.

Figure 6A illustrates one preferred embodiment of the MDV of the present invention in 3D representation.

FIG. 6B shows a preferred embodiment of 2D representation of the MDV of the present invention.

Description of the Related Art [0002]

100: Mine detection unmanned submersible 200: Tactical terminal

300: Unmanned submersible 300-01: obstacle detection sonar

300-02: Explosives 300-03: Depth meter

300-04: Magnetic Compass 300-05: Computer

300-06: inertial measuring device 300-07: propeller motor

300-08: Rudder Motor 300-09: GPS Antenna

300-10: Telecommunication antenna 300-11: Hinge

300-12: Battery 300-13: Rudder

300-14: Propeller

Claims (26)

Detecting a mine by an unmanned submersible for mine detection and preparing a distribution map; And And dismantling the mine area using a plurality of mine clearance submersibles, The mine detection unmanned submersible uses an underwater acoustic sensor to identify an object estimated to be a mine, confirms that the estimated object is a mine by approaching the object, using a magnetic source, a heat source, a chemical sensor and an optical sensor, Characterized in that it comprises: The method according to claim 1, Further comprising: exchanging information with the unmanned submersible for mine detection using a tactical terminal, and instructing the unmoving submersible to cancel the mine area. The method according to claim 1, Wherein the mine detecting unmanned submersible comprises an autonomous unmanned submersible vehicle equipped with magnetic, heat source, chemical, optical and underwater acoustic sensors. The method according to claim 1, Wherein the mine detection unmanned submersible system uses the probing navigation system as a navigation device and floats on the surface of water to compensate for GPS to remove cumulative errors that may occur during the probing navigation. delete 3. The method of claim 2, In the mine area dismantling stage, a battery module is mounted on the unmanned submersible, and the self-check is performed. And performing sleep navigation and submergence. The method according to claim 6, And subsequently activating the detonator by connecting to the tactical terminal and performing the target check after the submitting. 3. The method of claim 2, The tactical terminal transmits the optimum horizontal directional distance (L) and the optimum guidance route information to the unmanned submersible for the mission through telecommunication such as RF according to the coordinate of the target mine and the depth (D) information of the target mine Wherein the method comprises the steps of: 9. The method of claim 8, Wherein the relative distance (L) uses an optimal value according to each depth (D) of the unmanned submersible for abatement determined in advance through testing. The method according to claim 6, Wherein the unmanned submersible is operated in parallel with correction of the magnitude of the magnetic compass using the radar angle information provided from the GPS during the navigation of the water surface. 8. The method of claim 7, And if the target mine is not detected, the mission failure is determined. 12. The method of claim 11, And in the case of the mission failure, float to the surface of the water, connect to the tactical terminal, and move to the first rally. 13. The method of claim 12, Separating the detonator following the movement to the first ridge and moving to the second ridge, and recovering the unmanned submersible for abatement. 13. The method of claim 12, Wherein the mobile terminal is moved to the first landing site designated by the tactical terminal with the help of a navigation system via GPS after the surface is floated to the water surface and then the detonator is removed to remove the danger of explosives mounted on the unmanned submersible. Way. One or more unmanned submersibles for mine detection to recognize and transmit the mine distribution and type of the mine in a short time; A tactical terminal for establishing a disarmament operation based on the mine location information provided from the unmanned submersible for mine detection and transmitting the established operation information; And And a plurality of mine clearance submersibles for performing a mine operation by means of a self-length following the mine location based on the mine information input from the tactical terminal. 16. The method of claim 15, The undersea submarine is an underwater sonar that detects an obstacle. It is an obstacle detector, an explosive for mine removal, a depth meter for measuring the depth of the mine, a magnetic compass for measuring the direction of the magnetic field radiated from the mine, And a computer for controlling the underwater mine. 16. The method of claim 15, A rudder motor for driving a propulsion unit for driving a submersible borehole, a rudder motor for driving a rudder rudder for a submersible borehole, a GPS antenna for receiving a signal from the GPS, A remote communication antenna for receiving the same remote communication signal, and a hinge for connecting the remote communication antenna. 16. The method of claim 15, A battery that is a power source of the unmanned submersible, a rudder that directs the unmoving submersible, and a propeller that propels the unmanned submersible. 18. The method of claim 17, Wherein the inertial measurement apparatus is constituted by a three-axis accelerometer and a three-axis angular velocity meter, and is located at the center of gravity of the submersible borehole. 17. The method of claim 16, Wherein the magnetic compass is located at the front portion of the pressure vessel of the unmanned submersible for disasters and the obstacle detection sonar is located at the bow of the submersible unmanned submersible. 21. The method of claim 20, Wherein the explosive is installed outside the pressure-resistant container. 22. The method according to claim 20 or 21, Wherein the explosive is automatically separated from the unmanned submersible. 19. The method of claim 18, Wherein the battery is connected to the outside of the unmanned submersible vessel through an underwater connector to supply power to the interior of the pressure vessel of the unmanned submersible vessel and the detonator. 18. The method of claim 17, Wherein the propeller motor is disposed inside a pressure-resistant container of an unmanned submersible for unmanned underwater. 19. The method of claim 18, Wherein a propeller and a rudder are installed inside the duct of the unmanned submersible. 19. The method of claim 18, Characterized in that a servo motor for rudder steering is arranged inside the pressure-resistant hull.

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