EP1827964B1 - Procede pour detecter et neutraliser des objets sous-marins - Google Patents

Procede pour detecter et neutraliser des objets sous-marins Download PDF

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Publication number
EP1827964B1
EP1827964B1 EP05817262A EP05817262A EP1827964B1 EP 1827964 B1 EP1827964 B1 EP 1827964B1 EP 05817262 A EP05817262 A EP 05817262A EP 05817262 A EP05817262 A EP 05817262A EP 1827964 B1 EP1827964 B1 EP 1827964B1
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EP
European Patent Office
Prior art keywords
image
underwater vehicle
underwater
neutralization
mission
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.)
Not-in-force
Application number
EP05817262A
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German (de)
English (en)
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EP1827964A1 (fr
Inventor
Christian Blohm
Dirk Neumeister
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atlas Elektronik GmbH
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Atlas Elektronik GmbH
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Publication date
Application filed by Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Publication of EP1827964A1 publication Critical patent/EP1827964A1/fr
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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
    • 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

Definitions

  • the invention relates to a method for detecting and neutralizing existing underwater objects in a sea area, in particular mines, the genus defined in the preamble of claim 1.
  • an unmanned, remote-controlled underwater vehicle a so-called ROV, as well as equipped with an explosive charge for mine destruction, remote search and mine destruction unit are used, which are connected via a fiber optic cable.
  • the ROV is connected via another fiber optic cable to a surface ship, which has a sonar system for detecting and locating mines.
  • the mine and search unit is further equipped with a transponder, acoustic sensors, such as a short-range sonar, with optical sensors, such as a TV camera with a lighting unit, as well as with sensors for measuring actual data for navigation, such as direction of travel, angle to the horizontal plane, distance to the seabed and depth, equipped.
  • the transponder corresponds to an acoustic positioning system (APS) whose hydrophones are located on the ROV.
  • the ROV has an ejector unit, a so-called launcher, with which the search engine and mine destruction unit is suspended.
  • the search and mine destruction unit is directed by the APS from an operator positioned in the surface vessel to the mine-directed sonar beam of the mine hunting sonar.
  • the search and mine destruction unit whose transponder signals as well as the mine echo signals are displayed on the mine hunting sonar display, are then controlled by the operator to the mine.
  • the mine is inspected by means of the TV camera, and the search and mine destruction unit is brought by the operator in a position favorable for destruction to the mine and then remotely ignited by the operator.
  • the exploding explosive charge of the search and mine destruction unit which may be, for example, a shaped charge, triggers a detonation of the mine, wherein the search and mine destruction unit is destroyed with.
  • the invention has for its object to provide a method of the type mentioned, with a sea area, especially in the coastal area, quickly and efficiently on existing underwater objects, especially mines, searched and cleared of these.
  • the method according to the invention has the advantage that the reconnaissance mission and the neutralization mission are carried out separately from in each case one unmanned underwater vehicle and as a result the neutralization mission can be assigned a very precisely located object.
  • the neutralization mission can be assigned a very precisely located object.
  • parallel neutralization missions of different Underwater vehicles are carried out simultaneously, so that the time to clear the sea area is significantly shortened.
  • the neutralization mission the shortest distance to the assigned object is quickly found on the basis of an image comparison between the stored image in which the assigned object is marked and the partial images continuously supplied by the sensors during the drive of the underwater vehicle, and the assigned object is also reliably detected.
  • a navigation device for example a coupling navigator for specifying the course of the underwater vehicle traveling autonomously in the neutralization mission, is not required.
  • the underwater vehicles for neutralization can work far away from a manned mission control center, eg a surface ship, for coordinating the missions to be carried out, so that the mission control center is not exposed to any danger, in particular for the purpose of mine clearing.
  • the underwater vehicles in particular can easily penetrate into coastal regions that can not be approached and cleared by conventional mine clearance vehicles.
  • the invention is described in more detail below with reference to an embodiment illustrated in the drawing.
  • the drawing shows block diagrams of the components required for the method in a reconnaissance drone and in a neutralization drone and a flow chart of method steps carried out in a mission control center.
  • 11 is a mission center, e.g. a surface ship or a submarine, indicated from which the mine search and clearance in a sea area is coordinated.
  • the approached sea area is subdivided into detection and clearing sections, referred to below as sea area sections, in which reconnaissance and clearing missions are carried out successively or in parallel.
  • the mission headquarters 11 itself remains throughout the operation far outside the evacuated sea area, so it is at no time at risk.
  • a first unmanned, autonomously acting underwater vehicle which performs a reconnaissance mission and is called in the following reconnaissance drone.
  • a second unmanned, autonomously acting underwater vehicle is indicated, which performs a neutralization mission, in the case of demining described here thus a mine destruction, and is called in the following neutralization drone.
  • the reconnaissance drone 12 has optical and / or acoustic sensors 14, such as a high-resolution camera or a short-range sonar, operated in the side-looking mode or in the forward-looking mode or a parametric sonar or a sediment sonar, as well as a sensor data memory 17 for storing the data provided by the sensors.
  • the reconnaissance drone 12 has a drive and rudder device 15, which is controlled by means of a steering program stored in a steering program memory 16. All components are controlled by a central control unit 18 logically.
  • the neutralization drone 13 has the same sensors 20 as the reconnaissance drone 12. It also has a drive and rudder means 21 and in addition a neutralization unit 22, e.g. a blasting or minnow unloading charge.
  • the data supplied by the sensors 20 are supplied to an image generator 23, which is followed by an evaluation unit 24, which is the input side still connected to a memory 25 for image data storage. All components in the neutralization drone 13 are consequently controlled by a central control unit 26.
  • the reconnaissance drone 12 and the neutralization drone 13 are carried by the mission headquarters 11, preferably in large numbers, and used as needed.
  • a specific steering program is stored in the steering program memory 16 of the reconnaissance drone 12, after which the reconnaissance drone 12 is to systematically depart the sea area section.
  • the reconnaissance drone 12 is exposed by the mission control center 11 into the water and travels to the prescribed steering program from the sea area section.
  • the sensors 14 scan the sea floor in the sea area section and continuously provide sensor data from which a two- or three-dimensional image of the seabed can be created. If a short-range sonar or a high-resolution camera is used as sensors 14, the image of the Sea area section whose topography received. If a sediment echo sounder or a parametric sonar is used as the sensor 14, an image of the soil composition of the seabed up to a depth determined by the penetration depth of the sensors is created in addition to the topography. All sensor data are stored in the sensor data memory 17.
  • the reconnaissance drone 12 Upon completion of the reconnaissance mission, the reconnaissance drone 12 returns to the mission center 11.
  • the sensor data is read from the control data memory 27, and from the sensor data, the two- or three-dimensional image of the seabed in the sea area section is created (image generation 30).
  • image generation 30 the picture shows either the topography or the topography and the soil condition of the seabed in the sea area section.
  • the generated image is now evaluated for the presence of underwater objects, in the described embodiment mines (image analysis 31). Of the detected objects, an underwater object is selected and marked in the image (object marker 32).
  • the image provided with the object mark is stored in the image data memory 25 of the reconnaissance drone 12 (image storage 33). If several underwater objects are included in the image, then another underwater object can be marked in the image and the image with this object marking can be stored in the image memory 25 of a second reconnaissance drone 12.
  • the thus prepared neutralization drone 13 is exposed by the mission center 11 into the water and started to perform the neutralization mission.
  • the neutralization mission in the neutralization drone 13 by means of the sensors 20 continuously Partial images created by the seabed, to which the sensor data supplied by the sensors 20 are supplied to the image generator 23, in which partial images are created, corresponding to those portions of the image data stored in the image memory 25, which passes through the neutralization drone 13 respectively.
  • the partial images created in the image generator 23 are continuously compared with the image stored in the image data memory 25 in the evaluation unit 24 and determined on the basis of the comparison data steering data, which are supplied to the drive and rowing device 21. With these steering signals, the neutralization drone 13 is directed to the underwater object.
  • the central control unit 18 activates the neutralization unit 22, e.g. an integrated explosive charge that detonates and destroys the mine.
  • the neutralization unit of the neutralization drone 13 may also be a tool with which, for example, the rope is cut by anchor turrets, which can then float and clear at the water surface.
  • the image generation performed in the mission center 11 can be transferred to the reconnaissance drone 12 so that the reconnaissance drone 12 is already a two- or three-dimensional Picture from the seabed of the crazy sea area section delivers and in the mission headquarters 11, the image is evaluated only on the presence of mines.
  • a remote-controlled from the mission control center 11, e.g. wire-guided reconnaissance drone are used, which has the same components with the exception of the steering program memory.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Geophysics And Detection Of Objects (AREA)

Claims (8)

  1. Procédé de détection et de neutralisation d'objets sous-marins présents en mer, en particulier de mines, par recours à au moins un bâtiment sous-marin (12, 13) sans équipage équipé de détecteurs optiques et/ou acoustiques (14, 20), caractérisé par les étapes qui consistent à :
    - pendant une mission d'exploration du bâtiment sous-marin (12) dans une zone marine, établir une image bidimensionnelle ou tridimensionnelle du fond sous-marin au moyen des détecteurs prévus dans le bâtiment sous-marin,
    - lorsque la mission d'exploration est terminée, évaluer si l'image présente des objets sous-marins et repérer au moins un objet sous-marin présent dans l'image,
    - conserver l'image dotée d'au moins un repère d'objet sous-marin en mémoire dans au moins un deuxième bâtiment sous-marin (13) qui est équipé des mêmes détecteurs (20) que le premier bâtiment sous-marin et de plus d'une unité (22) de neutralisation,
    - pendant une mission de neutralisation du deuxième bâtiment sous-marin (13) dans la même zone marine, établir progressivement des images partielles du fond marin au moyen des détecteurs prévus dans le deuxième bâtiment sous-marin et les comparer à l'image conservée en mémoire,
    - à l'aide des données de comparaison, guider le deuxième bâtiment sous-marin vers l'objet sous-marin repéré et
    - activer l'unité de neutralisation (22) sur le site de l'objet sous-marin.
  2. Procédé selon la revendication 1, caractérisé en ce que comme image du fond marin, on établit la topographie du fond marin ou la nature du fond marin jusqu'à une profondeur prédéterminée du fond.
  3. Procédé selon la revendication 2, caractérisé en ce que comme détecteurs optiques (14), on utilise une caméra à haute résolution et comme détecteurs acoustiques un sonar de proximité et/ou une sonde échographique de sédiment ou un sonar paramétrique.
  4. Procédé selon la revendication 3, caractérisé en ce que le sonar de proximité est utilisé en mode d'observation latérale ("side-looking modus") ou en mode d'observation vers l'avant ("forward-looking modus").
  5. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que comme unité de neutralisation (22), on utilise une charge explosive emportée dans le deuxième bâtiment sous-marin.
  6. Procédé selon la revendication 5, caractérisé en ce que la charge explosive est intégrée dans le deuxième bâtiment sous-marin (13).
  7. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que comme unité de neutralisation (22), on utilise un outil disposé sur le deuxième bâtiment sous-marin.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce que pendant sa mission d'exploration, le premier bâtiment sous-marin (12) est guidé à distance ou fonctionne de manière autonome et en ce que pendant la mission de neutralisation, le ou les deuxièmes bâtiments sous-marins (13) fonctionnent de manière autonome.
EP05817262A 2004-12-23 2005-12-01 Procede pour detecter et neutraliser des objets sous-marins Not-in-force EP1827964B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004062122A DE102004062122B3 (de) 2004-12-23 2004-12-23 Verfahren zum Detektieren und Neutralisieren von Unterwasserobjekten
PCT/EP2005/012790 WO2006072296A1 (fr) 2004-12-23 2005-12-01 Procede pour detecter et neutraliser des objets sous-marins

Publications (2)

Publication Number Publication Date
EP1827964A1 EP1827964A1 (fr) 2007-09-05
EP1827964B1 true EP1827964B1 (fr) 2008-05-21

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP05817262A Not-in-force EP1827964B1 (fr) 2004-12-23 2005-12-01 Procede pour detecter et neutraliser des objets sous-marins

Country Status (9)

Country Link
US (1) US7530316B2 (fr)
EP (1) EP1827964B1 (fr)
JP (1) JP4440310B2 (fr)
AT (1) ATE396107T1 (fr)
AU (1) AU2005324236B2 (fr)
CA (1) CA2590850C (fr)
DE (2) DE102004062122B3 (fr)
NO (1) NO20073858L (fr)
WO (1) WO2006072296A1 (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007053103B3 (de) * 2007-11-07 2009-04-09 Atlas Elektronik Gmbh Verfahren zur Aufklärung eines Seegebiets
TWI406998B (zh) * 2010-04-06 2013-09-01 Multi - lens monitoring system for pier height
EP2598396B1 (fr) * 2010-07-30 2018-12-26 ATLAS ELEKTRONIK GmbH Procédé et système de déminage d'une zone sous-marine
DE102010035898B3 (de) 2010-08-31 2012-02-16 Atlas Elektronik Gmbh Unbemanntes Unterwasserfahrzeug und Verfahren zum Betrieb eines unbemannten Unterwasserfahrzeugs
DE102011107824A1 (de) * 2011-07-16 2013-01-17 Atlas Elektronik Gmbh Einrichtung und Verfahren zum Betreiben eines unbemannten Unterwasserfahrzeugs sowie Unterwasserfahrzeug mit der Einrichtung
DE102012006566A1 (de) * 2012-03-30 2013-10-02 Atlas Elektronik Gmbh Verfahren zur Detektion von Seeminen und Seeminendetektionssystem
US8904937B2 (en) 2012-04-13 2014-12-09 C-2 Innovations Inc. Line charge
DE102012016052A1 (de) * 2012-08-14 2014-02-20 Atlas Elektronik Gmbh Einrichtung und Verfahren zum Abbau von Feststoffen am Meeresgrund
IL228660B (en) 2013-10-01 2020-08-31 Elta Systems Ltd Underwater system and method therefor
DE102016111239A1 (de) * 2016-06-20 2017-12-21 Ocean Maps GmbH Verfahren zum Erzeugen von 3D-Daten eines Objekts
JP7061964B2 (ja) * 2016-11-01 2022-05-02 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ データ生成方法及びデータ生成装置
DE102020210449A1 (de) 2020-08-18 2022-02-24 Atlas Elektronik Gmbh Verwendung einer Luft-Wasser Drohne zum Lokalisieren und Identifizieren eines Objekts unter Wasser

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US4972388A (en) * 1975-02-13 1990-11-20 The United States Of Americas As Represented By The Secretary Of The Navy Electrical cable marker
NO902883D0 (no) 1990-06-28 1990-06-28 Bentech Subsea As Fremgangsmaate og anordning for soeking etter en gjenstand.
FR2701918B1 (fr) 1993-02-23 1995-04-28 Eca Procédé perfectionné de destruction d'un objet sous-marin, et notamment d'une mine immergée.
FR2726246B1 (fr) * 1994-10-28 1996-11-29 Thomson Csf Procede et systeme de destruction d'objets sous-marins, notamment de mines sous-marines
US5598152A (en) * 1994-12-29 1997-01-28 The United States Of America As Represented By The Secretary Of The Navy Mine sweeping system for magnetic and non-magnetic mines
GB2305399B (en) * 1995-09-21 1999-05-19 Marconi Gec Ltd A submersible mine neutralisation vehicle
US6634273B2 (en) * 2001-05-15 2003-10-21 Edo Corporation Open loop minesweeping system
FR2832975B1 (fr) 2001-11-30 2004-01-30 Thales Sa Systeme de chasse aux mines teleopere et projetable
US6802236B1 (en) * 2003-01-21 2004-10-12 The United States Of America As Represented By The Secretary Of The Navy System for in-stride identification of minelike contacts for surface countermeasures

Also Published As

Publication number Publication date
AU2005324236A1 (en) 2006-07-13
US20080257140A1 (en) 2008-10-23
WO2006072296A1 (fr) 2006-07-13
JP2008524047A (ja) 2008-07-10
US7530316B2 (en) 2009-05-12
JP4440310B2 (ja) 2010-03-24
CA2590850A1 (fr) 2006-07-13
DE502005004225D1 (de) 2008-07-03
EP1827964A1 (fr) 2007-09-05
ATE396107T1 (de) 2008-06-15
AU2005324236B2 (en) 2008-12-11
CA2590850C (fr) 2009-09-29
NO20073858L (no) 2007-07-23
DE102004062122B3 (de) 2005-12-22

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