EP1582455A1 - Vorrichtung zum Beobachten von unterwasser befindliche Gegenstände - Google Patents

Vorrichtung zum Beobachten von unterwasser befindliche Gegenstände Download PDF

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Publication number
EP1582455A1
EP1582455A1 EP05290537A EP05290537A EP1582455A1 EP 1582455 A1 EP1582455 A1 EP 1582455A1 EP 05290537 A EP05290537 A EP 05290537A EP 05290537 A EP05290537 A EP 05290537A EP 1582455 A1 EP1582455 A1 EP 1582455A1
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EP
European Patent Office
Prior art keywords
deployable element
deployable
underwater
underwater object
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05290537A
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English (en)
French (fr)
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EP1582455B1 (de
Inventor
Guénael Joseph Marie Guillerme
Jean-Marcel Azzis
Richard Emmanuel Eteki
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ECA SA
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ECA SA
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Application filed by ECA SA filed Critical ECA SA
Publication of EP1582455A1 publication Critical patent/EP1582455A1/de
Application granted granted Critical
Publication of EP1582455B1 publication Critical patent/EP1582455B1/de
Revoked legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48—Means for searching for underwater objects

Definitions

  • the present invention relates to a method and a system observation of underwater objects.
  • the invention relates more particularly to the observation and destruction of a bottom mine or a mine.
  • Document FR-A-2,750,946 describes a mine killer under the form of a small destructive load carrier. The craft is consumable because destroyed at the time of the destruction of the mine and is without a sensor capable of detecting an underwater object.
  • EP-A-0 691 264 which describes a submarine vehicle piloted from a surface vessel or a aircraft that removably carries a destruction unit consisting of intermediate equipment that is installed on the bottom or at an intermediate depth between the bottom and the object by the underwater vehicle piloted prior to the explosion of the load and which is also made up of a load carrying craft that is put into work from the intermediate equipment that constitutes a point anchor for the movements of the load-bearing machine which are controlled from the surface vessel.
  • the cargo carrier is connected to a control station of this movement and / or firing of the load on board the surface vessel or aircraft by a transmission cable of remote control order that connects the surface vessel to the unit of destruction.
  • the remote control cable is a telecontrol cable which, in addition to remote control commands, transmits information provided by sensors and which can be wound or unwound gradually from a reel carried by a drum, itself carried by the frame of the intermediate equipment of the unit of destruction.
  • the submarine vehicle carrying the destruction unit is piloted from the surface vessel via a second transmission cable, called the steering cable, which can be unwound or wound from a drum arranged on the vessel of area.
  • a second transmission cable called the steering cable
  • the load-bearing machine is connected to the equipment intermediate of the destruction unit by a connecting cable whose length is controlled to control the movements of the machine load carrier in relation to the intermediate equipment.
  • a connecting cable whose length is controlled to control the movements of the machine load carrier in relation to the intermediate equipment.
  • the invention proposes to remedy the disadvantages of systems mentioned above.
  • the invention proposes a device which ensures both a correct identification, and high security.
  • the identification Correct and reliable requires approaching close to the object submarine that can be a mine.
  • the eventual destruction involves the implementation of an explosive charge in the immediate vicinity of the submarine object taking into account that modern mines are better protected against explosions by influence and therefore require, in general, the laying of the explosive charge in direct contact with the mine.
  • Modern mines are also equipped with sensors capable of detecting the underwater vehicle and to provoke the explosion of the mine and the destruction of the submarine vehicle. The safety of the underwater vehicle is all the better ensured that the distance to the submarine object is high.
  • the device for observing underwater objects is of the type comprising a body, means for propulsion, at least one sensor means capable of detecting an underwater object, means for identifying said underwater object, and an element deployable supported by said body and provided with a movable end relative to said body, at least one sensor means being disposed at the movable end of said deployable element, so that said body may remain distant from the submarine object while the said means sensor approaches the submarine object.
  • the moving end can move away from the body of the device that remains at a safe distance this which reduces the risk of body shock on the underwater object.
  • the submarine object is a mine
  • the risk of detection of the device by a sensor of the mine is reduced, hence a significant increase in the probability of device survival and reuse.
  • the device comprises driving means disposed at the movable end of said deployable element.
  • the driving means may comprise a load of releasable destruction.
  • the destruction charge can be arranged to the submarine object and separated from the device which can then move away and operate the remote destruction charge, for example by an acoustic signal.
  • the device includes one or more work tools, for example a clamp cutting element, a cutting element for metal parts, a station for welding, etc.
  • work tools for example a clamp cutting element, a cutting element for metal parts, a station for welding, etc.
  • the device includes a sonar disposed at the movable end of said element deployable.
  • the device includes a camera disposed at the movable end of said element deployable.
  • the output signal from the camera can be transmitted to body of the device in a wired manner.
  • a unit of analysis and automatic identification can be embarked on board the body of the device for performing image analysis and identification automatic submarine object.
  • the device can then transmit the identification of the underwater object to another device, for example a surface ship or an aircraft, in a wired, acoustic way, radio, etc.
  • An operator on board said other device can then make a decision of attack or not of said underwater object.
  • the decision to attack or not is taken so automatic on board said other device equipped with a management unit tactical, or aboard the said destruction device equipped with a tactical management related to the unit of analysis.
  • the signal output of the camera can be transmitted to said other device which performs image analysis and decision making.
  • the camera can be approached the underwater object for safer identification while maintaining a low probability of explosion of the mine.
  • the device includes a control unit for propulsion and the deployable element, said control unit being connected to the camera to achieve visual servoing.
  • the device is thus able to maintain a desired position with respect to said object submarine.
  • the deployable element is telescopic. AT the folded state, the deployable element can be stored along the body, in particular in a concavity of said body, to provide resistance reduced in progress and facilitate the operation of the device.
  • the element deployable is orientable vertically and laterally to audit body. Maneuvering the deployable element in relation to the object submarine is easy and flexible. The body of the device can be maintained against a marine current, hence a good stability, and the deployable element extended laterally towards the underwater object.
  • the element Deployable includes linear and / or angular position sensors to determine the position of the moving end of said deployable element, particularly the position relative to the body of the device or a repository of said body.
  • the invention also relates to an observation method of submarine objects, in which a self-propelled submersible approaches an underwater object at a safe distance and then a deployable element supported by the body of the craft is deployed from way that an end of the unfoldable element movable with respect to said body approaches the submarine object at a distance less than said safety distance, a relocation step being implemented by a sensor means disposed at the movable end of said element deployable, a step of identification of said underwater object being then implemented.
  • a gripping means of images is approached from the submarine object.
  • control of the position of the body and the position of said end of the element deployable is developed on board said craft.
  • control of the position of the body and the position of said end of the element deployable is developed on board another device remote from said machine.
  • said end of the deployable element carries a charge of destruction, then drops said charge of destruction in contact with the submarine object, or immediate vicinity of the submarine object, the craft then moves away from the submarine object and then remotely control the explosion of said load of destruction.
  • a ship from surface 1 implements a submarine vehicle 2 through a connecting cable 3 ensuring the transmission of information between the vessel 1 and the underwater vehicle 2, in particular information from detection, such as visual images or sonar, information position and control information.
  • the underwater vehicle 2 comprises a body 4 lengthened to inside which storage batteries are arranged of electrical energy 5, a propulsion control unit 6 provided with means for determining the position of the underwater vehicle 2 and propulsion engine control means, a sonar 7 disposed at the front of the body 4 and an identification unit 8 of objects submarines.
  • the underwater vehicle 2 further comprises an element deployable 9 disposed in a housing 10 fixed under the body 4.
  • the deployable element 9 can be in the form of a pole telescopic movable by means of actuators, such as cylinders electric, hydraulic or pneumatic.
  • the deployable element 9 is also controlled by the control unit 8.
  • the deployable element 9 is in the stowed position, being fully disposed in the housing 10 to provide a minimal drag.
  • the deployable element 9 is represented in FIG. deployed position where it has a considerably longer length important than in the stowed position.
  • the deployable element 9 can be provided for this purpose with a plurality of sections 9a fitting the one in the others. It is understood, moreover, that the deployable element 9 is provided with a plurality of actuators including at least one actuator length control device, at least one control actuator of deposit and a site control actuator.
  • the deployable element 9 comprises an end 11 located at the opposite of the housing 10 in the extended position illustrated on the FIG. 2 and in the housing 10 in the stowed position illustrated in FIG. figure 1.
  • Propulsion nacelles 12 are fixed on either side of the body 4 and each comprise a motor 13 driving a propeller 14.
  • Four stabilizing fins 15 are also attached to the back of the body 4.
  • thrusters and stabilizers can be used.
  • the submarine vehicle 2 connected to the vessel 1 by the cable 3 can so move in submersion, locate a mine 16 by means of the sonar 7, then maintaining a minimum safe distance of the mine 16, implement the deployable element 9 whose sections telescopic 9a allow elongation so that the end free 11 said deployable element 9 comes in the immediate vicinity of the mine 16.
  • the maximum length of the deployable element 9 can be of the order of 15 meters.
  • the waves emitted by the sonar 7 carry the reference 17.
  • the end 11 of the deployable element 9 comprises a spherical frame 18 having a transparent front end 18a, a camera 19 disposed in the spherical frame 18 and a destruction charge 20 releasable disposed on one side of the spherical housing 18.
  • the element deployable 9 is thus equipped with observation means of the submarine object as well as means of destruction.
  • the camera 19 can be orientable along one or two axes to facilitate visualization underwater objects, such as mine 16, and the control of positioning of the deployable element 9, especially when the end 11 is approached to the mine 16, when taking pictures of the mine 16 by the camera 19, then during the installation of the charge of destruction 20 in contact with the mine 16.
  • the camera 19 is connected to the identification unit 8 by a data transmission cable, no represent.
  • the identification unit 8 performs an analysis of the images received from the camera 19 and performs an identification of the mine 16, for example compared to a database of mine images.
  • the end 11 of the deployable element 9 can be equipped with a sonar, not shown, in particular a sonar identification of underwater objects likely to take an image acoustic, for example a high frequency sonar, also called acoustic camera.
  • the identification unit 8 is connected to the control unit 6 to be able to achieve visual servoing on the submarine object, to maintain said underwater object in the field of the camera 19 by appropriate action means propulsion system 12 of the underwater vehicle 2, actuators of the deployable element 9 and camera orientation actuators 19.
  • the identification unit 8 includes a computing unit, memory means, a communication bus, input / output ports, and a visual servoing software developing instructions sent to the control unit 6 to keep the object underwater in the field of the camera 19.
  • the observation device of underwater objects is launched and brought to a distance of safety of the submarine object, including by remote control, manual or automatic, from a remote system, usually the ship having launched the observation device.
  • the observing device can be guided using a system sonar remote. Where appropriate, the observation device is oriented facing the marine current to maintain stability and maneuverability satisfactory.
  • the deployable element is then deployed partially, then we sweep by rotating the camera around its rotation axes in order to locate the underwater object in the field of the camera.
  • the servocontrol is carried out using a sonar mounted on the body 4 or at the end 11 of the deployable element, or still an ultrasonic sensor or touch.
  • the observation and destruction device of underwater objects is in the form of a surface ship equipped with the same means, namely a deployable pole allowing an image taking and a pose of destruction charge nearby of an underwater object, while the ship remains at a distance said underwater object.
  • the vessel 1 is equipped with an emitter / receiver 21 of acoustic signals.
  • the underwater vehicle 2 is equipped with a transmitter / receiver of acoustic signals 22 arranged in the body 4 and able to communicate acoustic waves with the transmitter / receiver. passing the cable 3 disposed between the ship 1 and the underwater vehicle 2 and allow remote data communication between the ship 1 and the underwater vehicle 2, including identification data or images.
  • an observation device is produced. of underwater objects perfectly suitable for different underwater works, such as the identification and destruction of mines, the inspection pipes or cables, welding, etc., and increased security conditions thanks to the safety distance maintained between the body of the viewing device and the underwater object subject to observation.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
EP20050290537 2004-03-29 2005-03-10 Vorrichtung zum Beobachten von unterwasser befindliche Gegenstände Revoked EP1582455B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0403237A FR2868038B1 (fr) 2004-03-29 2004-03-29 Dispositif d'observation d'objets sous-marins
FR0403237 2004-03-29

Publications (2)

Publication Number Publication Date
EP1582455A1 true EP1582455A1 (de) 2005-10-05
EP1582455B1 EP1582455B1 (de) 2007-05-30

Family

ID=34878461

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20050290537 Revoked EP1582455B1 (de) 2004-03-29 2005-03-10 Vorrichtung zum Beobachten von unterwasser befindliche Gegenstände

Country Status (3)

Country Link
EP (1) EP1582455B1 (de)
DE (1) DE602005001219T2 (de)
FR (1) FR2868038B1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007065495A1 (de) * 2005-12-07 2007-06-14 Atlas Elektronik Gmbh Gerät zum ausbringen und tracken eines unbemannten unterwasserfahrzeugs
US20160200408A1 (en) * 2013-08-13 2016-07-14 Saab Seaeye Limited Charge deployment system for ordnance neutralisation
CN108313239A (zh) * 2017-12-28 2018-07-24 中国船舶重工集团公司第七0研究所 一种抛载控制器

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3880103A (en) * 1972-08-21 1975-04-29 Us Navy Tethered mine hunting system
GB2114090A (en) * 1981-11-25 1983-08-17 Offshore Syst Eng Osel Improvements in or relating to remotely controlled work packages
EP0547937A1 (de) * 1991-12-17 1993-06-23 Societe Eca Verfahren zur Zerstörung eines Unterwassergegenstandes, insbesondere einer Seemine
US5370074A (en) * 1990-06-28 1994-12-06 Bentech Subsea A/S Method and device for tracking an object
US5844159A (en) * 1994-10-28 1998-12-01 Thomson-Csf Method and system for destroying submerged objects, in particular submerged mines

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD301215A7 (de) * 1981-04-21 1992-10-29 Institut Fur Schifbautechnik Und Um Welschutz Gmbh Verfahren und Gerätesystem zur Vernichtung von Minen

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3880103A (en) * 1972-08-21 1975-04-29 Us Navy Tethered mine hunting system
GB2114090A (en) * 1981-11-25 1983-08-17 Offshore Syst Eng Osel Improvements in or relating to remotely controlled work packages
US5370074A (en) * 1990-06-28 1994-12-06 Bentech Subsea A/S Method and device for tracking an object
EP0547937A1 (de) * 1991-12-17 1993-06-23 Societe Eca Verfahren zur Zerstörung eines Unterwassergegenstandes, insbesondere einer Seemine
US5844159A (en) * 1994-10-28 1998-12-01 Thomson-Csf Method and system for destroying submerged objects, in particular submerged mines

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007065495A1 (de) * 2005-12-07 2007-06-14 Atlas Elektronik Gmbh Gerät zum ausbringen und tracken eines unbemannten unterwasserfahrzeugs
JP2009518216A (ja) * 2005-12-07 2009-05-07 アトラス エレクトロニク ゲゼルシャフト ミット ベシュレンクテル ハフツング 無人の水中航走体の降下およびトラッキングのための装置
AU2006322417B2 (en) * 2005-12-07 2010-03-04 Atlas Elektronik Gmbh Appliance for deployment and tracking of an unmanned underwater vehicle
AU2006322417B8 (en) * 2005-12-07 2010-03-25 Atlas Elektronik Gmbh Appliance for deployment and tracking of an unmanned underwater vehicle
JP4686610B2 (ja) * 2005-12-07 2011-05-25 アトラス エレクトロニク ゲゼルシャフト ミット ベシュレンクテル ハフツング 無人の水中航走体の降下およびトラッキングのための装置
NO337418B1 (no) * 2005-12-07 2016-04-11 Atlas Elektronik Gmbh Anordning for utsetting og sporing av et ubemannet undervannsfartøy
US20160200408A1 (en) * 2013-08-13 2016-07-14 Saab Seaeye Limited Charge deployment system for ordnance neutralisation
US10167066B2 (en) * 2013-08-13 2019-01-01 Saab Seaeye Limited Charge deployment system for ordnance neutralisation
CN108313239A (zh) * 2017-12-28 2018-07-24 中国船舶重工集团公司第七0研究所 一种抛载控制器
CN108313239B (zh) * 2017-12-28 2019-08-23 中国船舶重工集团公司第七一0研究所 一种抛载控制器

Also Published As

Publication number Publication date
EP1582455B1 (de) 2007-05-30
DE602005001219T2 (de) 2008-01-31
FR2868038A1 (fr) 2005-09-30
DE602005001219D1 (de) 2007-07-12
FR2868038B1 (fr) 2006-06-02

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