EP2423101B1 - Unmanned submarine and method for operating an unmanned submarine - Google Patents

Description

The invention relates to an unmanned underwater vehicle having at least one sensor unit according to the preamble of claim 1. The invention further relates to a method for operating an unmanned underwater vehicle according to the preamble of claim 9.

Unmanned submersibles, unlike manned missions, can reach greater working depths and work in environments too dangerous for divers or manned submersibles. Unmanned underwater vehicles are also able to perform most of the tasks previously performed by larger research vessels. As a result, unmanned underwater vehicles offer a high cost advantage over manned systems. Unmanned underwater vehicles can be broadly divided into remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs).

Remote Controlled Underwater Vehicles (ROV) are typically remotely controlled by a patch cord, usually by a human operator. Remote-controlled underwater vehicles are preferably used for missions with localized, closer investigations under real-time conditions, whereby the underwater vehicle must often also act on an object under water, for example for repair purposes.

The invention relates to an unmanned underwater vehicle having at least one sensor unit according to the preamble of claim 1. The invention further relates to a method for operating an unmanned underwater vehicle according to the preamble of claim 9.

Unmanned submersibles, unlike manned missions, can reach greater working depths and work in environments too dangerous for divers or manned submersibles. Unmanned underwater vehicles are also able to perform most of the tasks previously performed by larger research vessels. As a result, unmanned underwater vehicles offer a high cost advantage over manned systems. Unmanned underwater vehicles can be broadly divided into remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs).

Remote Controlled Underwater Vehicles (ROV) are typically remotely controlled by a patch cord, usually by a human operator. Remote-controlled underwater vehicles are preferably used for missions with localized, closer investigations under real-time conditions, whereby the underwater vehicle must often also act on an object under water, for example for repair purposes.

Autonomous Underwater Vehicles (AUV) perform their mission without constant human operator supervision and follow a predetermined mission program. Autonomous underwater vehicles have their own power supply and do not require external communication during the mission. After the mission program has been completed, the autonomous underwater vehicle will automatically emerge and be recovered afterwards. An autonomous underwater vehicle is particularly suitable for long-range reconnaissance under water and examines the underwater environment usually without contact with detected objects under water.

Unmanned underwater vehicles, ie both guided underwater vehicles (ROV) and autonomous underwater vehicles (AUV), comprise at least one sensor unit by means of which sensor information about objects in the surroundings of the underwater vehicle can be detected. Long-hauled submersibles often use a camera as a sensor unit to take pictures under water, which are displayed to the operator in order to enable the operator to inspect or manipulate under real-time conditions based on images of an object. Autonomous underwater vehicles require sensor units for detecting objects in the environment of the underwater vehicle for various tasks. Among other things, the sensor information is used for the navigation. The sensor information is also used to locate objects or to calculate maneuvers for closer inspection of found underwater objects.

DE 10 2004 062 122 B3 discloses a method for detecting and neutralizing underwater objects, in particular mines, by means of optical and / or acoustic sensors of an unmanned underwater vehicle.

WO 87/00501 A1 discloses a window for an underwater vehicle which forms part of the spherical pressure hull of the underwater vehicle and comprises a transparent ring surrounding the pressure hull. A camera is rotatably received in the pressure body, that a rotation of the camera is possible with a view through the window.

US 20100153050 A1 shows an unmanned underwater vehicle (torpedo-pumped AUV 210) with a gravity sensor system 250 or gravimeter sensor 256). This gravity sensor 256 is attached to a powered support bracket (gimbal 260). Inclination sensors (tilt sensors 262) can also be mounted on this mounting bracket 260. A movement of the support bracket 260 together with the sensors on this support bracket 260 is able to compensate for a movement of the underwater vehicle 210 at least partially.

In WO 85/03269 A1 For example, an unmanned underwater vehicle (ROV 21) is described with a camera (television camera 54) and a container (can 57) with a transmissive window. The camera is capable of reading images from an article outside the ROV 21, for example from a subsea pipeline 24. Measuring instruments (gauges) in the container 57 are able to make measurements through the permeable window. Via a cable 29, the ROV 21 is connected to a manned surface ship 76. Images from the camera 54 are transmitted to this surface ship 76. On the other hand, a person on board the surface ship 76 can actuate an actuator (pan and tilt mechanisms 55) for the camera 54.

US 3880103 shows an arrangement with a support vehicle 11 in the form of a helicopter, a lift module 12 for use under water and a submarine vehicle 14 with a drive (motors 19). A first support cable (tether 13) connects the helicopter 11 with the lift module 12, a second support cable (tether 15) connects the lift module 12 to the submarine vehicle 14, cf. Fig. 1 , The assembly is used to neutralize an anchor harness 41, 42, 43. The helicopter 11 sets the two vehicles 12, 14 in a sea area to be monitored, a transducer 23, the lift module 12 generates sound signals, and a sonar system on board the helicopter 11 evaluates these signals. A camera 16 of the underwater vehicle 14 generates images of the anchor turrets 41, 42, 43. These are transmitted to a display device (video readout 36) on board the helicopter 11 and displayed there. A tool (gripping, hand-like device 22) on a gripping arm 18 is able to neutralize the mine 41, 42, 43.

In a variety of underwater missions, both long-range reconnaissance or investigation and localized work under real-time conditions are required, for example, in the inspection and possibly repair of offshore installations such as pipelines. Often, walls, in particular vertical walls, underwater to investigate, the walls are descend according to their length under water over a long inspection area. If damage is detected, the damage must be further diagnosed and, if necessary, repaired. Such applications for unmanned underwater vehicles are, for example. Harbor inspections including the inspection of canal walls, quay walls, sheet piling, etc., especially with regard to the Unterspülung such underwater walls. Port inspections may also concern the investigation and possibly manipulation of hulls. In such underwater missions, items having large structures and contours must be examined and must be scanned comprehensively by the sensors of the underwater vehicle. In this case, the structures and contours of the examined object can change, so that the sensor unit can only insufficiently or not at all capture the structures and contours of the object.

In known unmanned underwater vehicles, the sensor units are permanently mounted, but no adaptation of the sensor unit to changing structures and contours of the object to be examined is possible. Therefore, regular control maneuvers of the underwater vehicle are necessary in order to bring the sensors into new positions with respect to the underwater body to be examined in order to obtain suitable sensor information. Often, therefore, in the investigation of large underwater bodies such as underwater walls or ship walls adjustment maneuver by an operator to make, which slows down the implementation of the mission is.

From the monitoring technology so-called. Pan-tilt units are known, which is a mechanical transmission rotatably received in the pressure body, that a rotation of the camera is possible with a view through the window.

In a variety of underwater missions, both long-range reconnaissance or investigation and localized work under real-time conditions are required, for example, in the inspection and possibly repair of offshore installations such as pipelines. Often, walls, in particular vertical walls, underwater to investigate, the walls are descend according to their length under water over a long inspection area. If damage is detected, the damage must be further diagnosed and, if necessary, repaired. Such applications for unmanned underwater vehicles are, for example. Harbor inspections including the inspection of canal walls, quay walls, sheet piling, etc., especially with regard to the Unterspülung such underwater walls. Port inspections may also concern the investigation and possibly manipulation of hulls. In such underwater missions, items having large structures and contours must be examined and must be scanned comprehensively by the sensors of the underwater vehicle. In this case, the structures and contours of the examined object may change, so that the sensor unit can only insufficiently or not at all capture the structures and contours of the object.

In known unmanned underwater vehicles, the sensor units are permanently mounted, but no adaptation of the sensor unit to changing structures and contours of the object to be examined is possible. Therefore, regular control maneuvers of the underwater vehicle are necessary in order to bring the sensors into new positions with respect to the underwater body to be examined in order to obtain suitable sensor information. Often, therefore, in the investigation of large underwater bodies such as underwater walls or ship walls adjustment maneuver by an operator to make, which slows down the implementation of the mission is.

From the monitoring technique so-called. Pan-tilt units are known, which is a mechanical transmission, which coordinates pitching movements and can perform panning movements and a camera tracking a target. Such pan-tilt units are used in particular for room monitoring, wherein the camera detects movements, in particular of invading persons. For use in unmanned underwater vehicles such pan-tilt units are not suitable because the adjustment or alignment of camera and possibly light source is done manually by an operator and therefore a great deal of time for the adjustment of the sensors is required. Due to the remote-controlled operation of the pan-tilt units, such systems are not suitable in particular for autonomously operating underwater vehicles (AUVs).

The invention is based on the problem of detecting structures and contours of objects under water as quickly and accurately as possible.

This problem is solved according to the invention with an underwater vehicle having the features of claim 1 and with a method having the features of claim 9.

According to the invention, the at least one sensor unit is movable in a tangential direction of the underwater vehicle, in particular pivotable, rotatable or displaceable, and can be positioned in the tangential direction by a positioning device, which can be used to predetermine the sensor information. Mobility in the tangential direction refers to a mobility tangential to the longitudinal axis of the underwater vehicle or to an axis parallel to the longitudinal axis. The tangential direction is in particular a direction of rotation about this longitudinal axis or the axis extending parallel to the longitudinal axis. The tangential direction in which the sensor unit is movably disposed lies in a plane which is perpendicular to a longitudinal axis of the underwater vehicle. The longitudinal axis corresponds to the straight ahead of the underwater vehicle. By moving the sensor unit, the sensor unit can be aligned very quickly to an area to be examined and adapted to the structure of the object to be examined. The inventive alignment of the sensor unit can be done automatically by the positioning without an operator must be involved.

Due to the alignability of the sensor unit, the sensor unit can detect a considerably larger area by changing the detection range of the sensor unit in the case of large structures, such as quay walls or ship hulls. In addition, the alignment according to the invention makes it possible to detect structures and contours which lie outside the detection range of the sensor unit in a specific position. For example. An alignment of the sensor unit can also detect overhangs, in particular on steep slopes or in general of objects under water. When detecting large structures with the inventive positioning of the sensor unit, the detected structures are advantageously stored in order to compare the thus stored data of these structures with the sensor information of a later investigation of the same structure. As soon as changes or peculiarities of the structure are detected, the sensor unit is positioned in the direction of the found particularity, for example damage to a harbor wall or abnormalities on a ship's hull.

Advantageously, the sensor unit is arranged on a sensor carrier, which is rotatably arranged in the tangential direction on a hull of the underwater vehicle, i. the sensor carrier is rotatable about the longitudinal axis or an axis parallel to the longitudinal axis. Via an actuator of the sensor carrier, the positioning device can rotate the sensor carrier, so that the sensor unit is pivoted in the tangential direction of the underwater vehicle and thus positioned. In the tangential direction, the angular position of a rotatable sensor carrier is changed during positioning.

In a preferred embodiment of the invention, the sensor carrier is designed as a rotatable sensor head, which is arranged on a bow of the underwater vehicle. In this way, the area lying ahead of the underwater vehicle is optimally detected and, moreover, the sensor unit is provided at a location favorable in terms of flow mechanics.

In a further advantageous embodiment of the invention, the sensor carrier is designed as a sensor ring, which is rotatably arranged on the circumference of the hull.

Advantageously, the sensor unit is pivotally arranged in a pivoting direction tangentially to an axis which is perpendicular to the longitudinal axis or perpendicular to an axis extending parallel to the longitudinal axis. In this pivoting direction, the sensor unit can be positioned by the positioning device. In this way, the sensor unit can be moved by the positioning device both in the tangential direction and in the pivoting direction, i. with a movement over two axes of rotation, accurately and quickly aligned to the object to be examined or the section of a structure.

In a preferred automatic alignment of the sensor unit, the positioning device positions the sensor unit according to a criterion related to the sensor information. The sensor information determined by the sensor unit is evaluated and act on itself during a displacement of the sensor unit, so that the sensor unit can be positioned very quickly according to a certain criterion.

Advantageously, a distance from an object is determined for each detected sensor information, and the size of the determined distances is used as a criterion for the positioning of the sensor unit. The information for the removal of the object can be derived from the respective sensor information in each angular position of the sensor unit. For detecting the sensor information about objects in the environment of the underwater vehicle, an active sensor unit is advantageously provided, which comprises a transmitting unit and a receiver unit with which reflected sensor information can be detected. In this way, the distance to the target can be determined from the sensor information. The active sensor unit also detects emissions-free objects, for example objects that emit no noise.

In an advantageous embodiment of the invention, the active sensor unit comprises optical sensors whose camera provides images as sensor information. From the images of the camera, the structure of the object to be examined and also local zones of particular interest, such as. Damage, easily visible or derivable.

In a preferred embodiment of the invention, the sensor unit comprises acoustic sensors. By means of a sonar sensor unit distances to an object as well as the direction to this object can be determined.

Advantageously, a contour of an object in the surroundings of the underwater vehicle is determined from the detected sensor information, and the sensor unit is aligned in a direction predetermined for the determined contour. The positioning device detects a variation of sensor information from different directions and determines the respective distance to the object in the environment of the underwater vehicle. From the variation of distances thus obtained, the contour of the object in the vicinity of the underwater vehicle can be derived. The sensor unit is then aligned in the direction of one of the sensor information, which is selected according to a predetermined criterion for the determined contour from the variation of sensor information. Guidelines for aligning the sensor unit are electronically stored or stored in an advantageous embodiment for certain contours in the positioning.

Advantageously, the sensor information is provided by a multi-beam active sonar, ie, a sonar having a plurality of reception directivity characteristics pointing in different directions. The multibeam active sonar provides in a detection sector a plurality of sensor information, each associated with a direction and a distance. With a suitable tuning of the active sonar and appropriate evaluation contours are derived from the acoustic sensor information, which can also be visualized if necessary, for example. On monitors. With a sonar will also be in Situations in which optical sensor units are less effective, such as in murky waters, accurate positioning of the sensor carrier and adjustments to changing contours and structures possible.

The criterion for the alignment of the sensor unit is preferably the size of the determined distances. An orientation according to the largest determined distance or the smallest distance can be predetermined for the respective contour. Also certain distances corresponding to certain angular relationships between the sensor unit and the structure or contour to be examined may be specified as a criterion for the orientation.

For flat contours such as underwater walls, the sensor unit is advantageously aligned in the direction corresponding to the shortest distance of an object, so that the detection range of the sensor unit is optimally utilized. For other contours, other criteria for the distance to the positioning of the sensor unit may be predetermined. For example. Advantageously, in corner structures, for example when examining a corner enclosed by a wall on a floor, the sensor unit is positioned at the furthest distance previously determined in the evaluation of the sensor information.

If, during operation of the underwater vehicle, it is determined that the instantaneous position of the sensor unit no longer corresponds to the criterion specified for the contour, then the position of the sensor unit is tracked to the criterion. The rotatable sensor carrier is moved with the at least one sensor unit in an automated process until the alignment corresponds to the predetermined criterion. Thus, for example, when operating a remote-controlled underwater vehicle, an automatic alignment takes place without an operator having to intervene.

In a further advantageous embodiment of the invention, it is provided to send a light image relative to an object to be examined in order to align a sensor unit, wherein the sensor unit generates a projection of the object Photograph captured on the object. When evaluating the sensor information, the projection is compared with the transmitted light image and an incongruity of the projection of the original light image is determined and the geometry of the original light image used as a criterion for the positioning of the sensor unit. The sensor carrier and thus the sensor unit is aligned by movement in the circumferential direction and / or pivoting direction in accordance with a determined deviation such that the thus detected projection is as congruent with the light image. This procedure is based on the knowledge that when the light image does not strike the surface perpendicular to a surface, the projection is distorted in accordance with the inclined structure of the object.

Preferably, the light image is generated with laser light, so that a high range is given. For this purpose, a laser projection system is provided in the sensor carrier, for example the sensor head.

By changing the orientation of the sensor unit, the geometry of the projection also changes, from which it is possible to draw conclusions about the deviation of the actual position of the sensor unit from the optimum target sensor unit. Advantageously, a light image with parallel lines is used, resulting in a non-frontal position of the sensor unit an oblique, that is no longer parallel position of the lines on the projection. Preferably, a light image is transmitted with crossed line bundles, each with parallel lines, so that conclusions about the orientation of the sensor unit in two dimensions are possible.

Advantageously, the movable sensor carrier comprises both a laser projection system with camera as an optical sensor unit and an active sonar (multibeam sonar). Both systems can be used together if required.

Fig. 1

eine schematische Seitenansicht eines unbemannten Unterwasserfahrzeugs,

Fig. 2

eine schematische Seitenansicht eines zweiten Ausführungsbeispiels eines unbemannten Unterwasserfahrzeugs,

Fig. 3

ein Flussbild einer Ausrichtung einer Sensoreinheit,

Fig. 4 und Fig. 5

Draufsichten eines drehbaren Sensorträger eines unbemannten Unterwasserfahrzeugs gemäß Fig. 1 oder Fig. 2 in der Umgebung eines Unterwasserkörpers und

Fig. 6

eine schematische Darstellung eines Gegenstandes mit der Projektion einer optischen Sensoreinheit des Unterwasserfahrzeugs gemäß Fig. 1 oder Fig. 2.

Further advantageous embodiments will become apparent from the dependent claims and from the embodiments, which are explained below with reference to the drawing. Show it:

Fig. 1

a schematic side view of an unmanned underwater vehicle,

Fig. 2

a schematic side view of a second embodiment of an unmanned underwater vehicle,

Fig. 3

a flow chart of an alignment of a sensor unit,

4 and FIG. 5

Top views of a rotatable sensor carrier of an unmanned underwater vehicle according to Fig. 1 or Fig. 2 in the environment of an underwater body and

Fig. 6

a schematic representation of an article with the projection of an optical sensor unit of the underwater vehicle according to Fig. 1 or Fig. 2 ,

Fig. 1 shows an unmanned underwater vehicle 1 with an at least partially cylindrical, in particular tubular or torpedo-shaped hull 2, at the rear 3, a main drive 4 is arranged. The unmanned underwater vehicle 1 is an autonomous underwater vehicle in the illustrated embodiment, which carries out its mission without communication. For this purpose, a control device 5 is arranged in the hull 2, which is preset by operating software and / or a mission program, which is stored in a memory 6, control information.

The underwater vehicle 1 has at least one sensor unit 7, the sensor information 8 of the control device 5 are entered. The control device 5 autonomously determines control commands for the operating devices of the underwater vehicle on the basis of the control information given by the mission program 6 and the sensor information 8 with its operating software 1, eg. For the navigation or to control the drive 4 and steering the underwater vehicle. 1

In an alternative embodiment, the unmanned underwater vehicle 1 is remotely steered and receives control information 9 via a connection cable 10 from a system platform, which in Fig. 1 is shown as a seagoing ship 11. The system platform 11 may also be localized to perform underwater underwater inspections with a ROV.

The at least one sensor unit 7 is movably arranged in a tangential direction 12 of the underwater vehicle and can be positioned by a positioning device 13 in the tangential direction 12. The positioning device 13 comprises an electronic computer unit with which the received sensor information 8 is evaluated in accordance with operating software and output values are determined. The positioning device 13 can be an independent computer unit or can also be integrated in the control device 5.

The tangential direction 12, in which the sensor unit 7 can be positioned, lies tangentially to the longitudinal axis 14 of the underwater vehicle 1. The longitudinal axis 14 corresponds to the straight ahead of the underwater vehicle 1 and extends between its tail 3 and its bow 15th

A mobility of the sensor unit 7 in the circumferential direction 12 is given by the fact that the sensor unit 7 is arranged on a sensor carrier which is rotatably arranged in the tangential direction 12 on the hull 2. In the exemplary embodiment shown, the sensor carrier is designed as a rotatable sensor head 16, which is arranged on the bow 15 of the underwater vehicle 1. The bow 15 provides a flow-mechanically favorable location for the arrangement of the sensor unit 7.

The sensor head 16 is rotatable by an actuator 17 in the circumferential direction 12, wherein the actuator 17 for adjusting the angular position of the sensor head 16th and the associated positioning of the sensor unit 7 receives setting commands from the positioning device 13.

The sensor unit 7 is arranged in addition to the tangential direction 12 in a pivoting direction 18 movable, i. pivotable about an axis perpendicular to the longitudinal axis 14 or perpendicular to a plane parallel to the longitudinal axis 14 of the underwater vehicle 1 axis. The sensor unit 7 can be positioned in the swivel direction 18 by the positioning device 13. For positioning in the pivoting direction 18, the sensor head 16, not shown here adjusting means, which are controlled by the positioning device 13. As a means for positioning in the pivoting direction 18 may also be provided an actuator, which is controlled by the positioning device 13 via setting commands.

In the embodiment according to Fig. 2 the rotatable sensor carrier is designed as a sensor ring 19, which is rotatably arranged on the circumference of the hull 2. The rotatable sensor ring 19 is instead of the rotatable sensor head 16 in the embodiment according to Fig. 1 intended. The sensor ring 19 is rotatable in the tangential direction 12 of the underwater vehicle 1, wherein the sensor units 7 of the sensor ring 19 - as already to Fig. 1 described - are positionable in a pivoting direction 18. The sensor ring is advantageously mounted on a rotary belt and comprises a housing made of a material which is permeable to the operating signal of the sensor unit 7. The sensor ring 19 is advantageously made of glass, which is translucent, and / or of a material which is sound-permeable.

The unmanned underwater vehicle 1 'according to Fig. 2 Incidentally, this already corresponds to the already too Fig. 1 described structure. In particular, the sensor units 7 of a in Fig. 2 Not shown positioning positioned in tangential direction 12 and in the pivoting direction 18, so that an optimal alignment is carried out on an object to be examined.

The sensor unit 7 is an active sensor, which comprises a transmitting unit and a receiver unit, so that the sensor unit can detect signals transmitted from it after reflection on an object and can provide corresponding sensor information 8 about the object. In particular, the respective distance to the destination can be derived from the sensor information 8 of an active sensor unit. The sensor unit 7, which is used for positioning the sensor head 16, may be an optical sensor unit or a sonar sensor unit.

The sensor head 16 may have a plurality of sensor units 7 which are distributed in the tangential direction, so that rotational movements of the sensor head 16 during positioning are reduced. In an advantageous embodiment, both optical sensor units and sonar sensor units are arranged on the sensor head 16, or further sensor units are provided for examining the surroundings of the underwater vehicle 1. Of the sensor units arranged on the sensor head 16, at least one is used for positioning the sensor head 16 and connected to the positioning device 13. In this case, an alignment of other sensor units arranged on the sensor head 16 can also take place via the sensor signals 8 of the sensor unit 7 used for positioning. Corresponding algorithms can be stored in the positioning device.

In a preferred embodiment, the sensor head 16 comprises a camera and a laser projection system as well as an active sonar (multibeam sonar).

Since the sensor information 8 of the positioning device 13 is specified and the positioning device 13 displaces and positions the sensor device 7, the control information acts back on itself, so that an optimization of the sensor alignment takes place during the positioning processes.

An embodiment for positioning the sensor unit 7 is described below with reference to the flowchart according to FIG Fig. 3 explained. Starting from the start, the positioning device detects the sensor information 8, the information about may contain an object in the vicinity of the underwater vehicle or contains in the environment of an object. In a distance determining operation 20, the distance 21 to the object is determined. The determined distance 21 is compared in a comparison step 22 with a predetermined criterion 23 with respect to the size of the distance. The predetermined criterion 23 can be as small a distance as possible or as large a distance as possible, or else another indication of the distance.

In comparison step 22, the distance of the current sensor information 8 is compared with previously acquired values. If the change in the determined distance does not correspond to the criterion, an adjustment command 24 is sent to the actuator 17. In that case, the rotatable sensor carrier is further rotated, so that the sensor unit is positioned differently. As soon as the determined distance meets the criterion, the sensor unit is optimally positioned.

The criterion 23 is given based on the respective contour of an object. Here, the distance 21 next to the comparison step 22 in a contour determination 25 is used. During the positioning process, i. As the sensor carrier moves, the positioning device detects a variation of sensor information 8 from different directions. From the sensor information 8 determines the respective distance 21 to the object in the environment of the underwater vehicle. From the variation of distances thus obtained, a contour 26 of the object in the vicinity of the underwater vehicle can be derived. A criterion specification 27 determines the appropriate criterion 23 of the size of the distance for the determined contour 26. For certain contours 26, corresponding criteria 23 are determined and stored in advance.

By positioning in accordance with the predetermined size of the distance 21, the sensor unit is automatically aligned in the direction of that sensor information 8 which is selected according to the criterion 23 predetermined for the determined contour 26 from the variation of sensor information.

Embodiments for the orientation of the sensor unit after the determined distance show 4 and FIG. 5 in each of which a plan view of the sensor head 16 of an underwater vehicle is shown. In the embodiment according to Fig. 4 The underwater vehicle is in front of a flat contour, for example a vertical harbor wall 28. As soon as the sensor unit 7 of the sensor head 16 locates the harbor wall 28, the sensor unit 7 is positioned. For positioning the sensor unit 7 relative to the wall 28, the sensor head 16 is rotated in the circumferential direction 12, whereby the sensor unit 7 transmits and receives signals in different angular positions, and therefore the positioning means a variation of sensor information 8, 8 ', 8 ", 8'" of the Detected sensor unit 7 from different directions.

For each detected sensor information 8, 8 ', 8 ", 8'", a distance to the object, here the wall 28, is determined. From the different distances in different directions, the contour of the wall 28 in the detection range of the sensor unit can be determined. After determining the contour of the object, namely the flat surface of a wall 28 here, the sensor unit 7 is brought into an angular position which corresponds to the direction of those sensor information 8, 8 ', 8 ", 8'" whose determined distance corresponds to the predetermined criterion corresponds to the size of the distance, for example, corresponds to the criterion of the largest distance. In the illustrated embodiment of a flat surface, the shortest distance is specified as a criterion for the size of the distance for the positioning of the sensor unit.

As long as the distances of the current sensor information become smaller, the sensor head continues its positioning movement. The achievement of the criterion of the smallest distance is determined as soon as an increasing distance is determined for the first time. The sensor unit 7 is thus positioned exactly frontally in front of the wall and thereby captures the largest possible area.

The positioning of the sensor unit 7 is automatic and thereby very quickly. With the automatic positioning and adjustment of the sensor unit, changing structures can be detected and several structures in shorter Shown time, for example, vertical walls with different structures, ship hulls or overhangs on underwater mountains. In this case, by the positioning of the sensor head and a sector in the vicinity of the underwater vehicle to be examined, which was poorly detectable in the previous orientation of the sensor unit. For example, when inspecting overhangs, the sensor can be turned upwards from a downward position. In addition, larger sensor areas can be detected by the automatic positioning, since the sensor unit is automatically aligned in the respectively optimum position with respect to the surface to be examined.

The positioning of the sensor unit 7 takes place automatically and independently of an operator, so that in a remote-controlled underwater vehicle (ROV), the vehicle can still be controlled manually, while simultaneously with changing surface structures of the objects to be examined, the sensor unit is automatically positioned.

If the sensor unit 7 is a sonar, positioning can be carried out in a simple embodiment with a three-point measurement, wherein sensor information is recorded in three different positions of the sensor carrier, from which the respective distance of the reflective object is determined. From the variation of three distances, the shortest distance, the direction of the shortest distance for the positioning of the sensor unit is selected after the criterion specified for the contour, ie for a flat surface, the shortest distance. Preferably, the sensor information is detected by a multi-beam active sonar so that a variation of many sensor information from different directions is provided for the determination of the contour.

For different contours, the positioning device is provided with different criteria for determining the direction from the variation of the determined sensor information and associated distances. In Fig. 5 By way of example, a situation is shown in which an object to be examined forms a corner 29. This situation is typical for the study of port installations, where, for example, vertical walls 28 are erected on a ground 30. Close examination and fast and precise positioning is desirable, particularly in the region of the bottom 30, to detect under-flushing of the wall 28. When corner 29 is examined, this contour is given the longest distance as a criterion for the size of the distance after which the sensor unit 7 is positioned.

In the already too Fig. 4 a variation of sensor information 8, 8 ', 8 "is detected during movement of the sensor head 16 in the circumferential direction 12. If the result of an evaluation of the sensor information 8, 8', 8" is the presence of a corner contour, the criterion for the Positioning of the sensor unit 7 given the largest distance. The sensor unit 7 is automatically positioned in the direction of the sensor information 8 with the longest distance to the underwater object, which exactly corresponds to the orientation of the corner 29.

Fig. 6 illustrates the positioning of an optical sensor unit, wherein the sensor unit 7 (FIG. Fig. 1 to 4 ) transmits a light image 31 and detects a projection 32 of the light image 31 on a wall 28 to be examined. The sensor unit comprises a laser projection system and a camera for this purpose. With the high energy density of the laser light, light images 31 can be projected onto the structures to be examined even in murky waters.

If the wall 28 is not in front of the sensor unit, the projection 32 is distorted. In order to optimally align the sensor unit with the area of the wall 28 to be examined, a deviation of the geometry of the projection 32 from the transmitted light image is determined and the sensor unit is positioned such that the projection 32 is as congruent as possible to the original light image 31. The (original) geometry of the light image 31 is used by the positioning device as a criterion for the orientation of the sensor unit 7.

In the exemplary embodiment shown, the light image 31 has two crossed line bundles, each with parallel lines 33, 34. These line structures can be accurately with the laser light of the laser projection system. When the light image 31 is projected onto a wall 28 at an angle to the sensor unit, the projection 32 will not reproduce the crossed line bundles in parallel, but askew or askew. From the angle between the original parallel lines, the appropriate alignment measure can be derived. With the light image 31 with crossed line bundles and the resulting two-dimensional information about the surface of the wall 28 to be examined, the sensor unit can be positioned precisely in the tangential direction 12 and in the pivoting direction 18 (FIG. Fig. 1 ) are matched and adapted to the structure of the wall 28.

All mentioned in the above description of the figures, in the claims and in the introduction of the description features can be used individually as well as in any combination with each other. The disclosure of the invention is therefore not limited to the described or claimed feature combinations. Rather, all feature combinations are to be regarded as disclosed.

Claims (15)

1. Unmanned submarine having at least one sensor unit (7) by means of which sensor information (8, 8', 8", 8''') about objects (28, 29, 30) in the surroundings of the submarine (1, 1') can be acquired, and having a positioning device (13) for the sensor unit (7),
   characterized in that
   the sensor information (8, 8', 8", 8''') can be specified to the positioning device (13), the at least one sensor unit (7) is arranged so as to movable in a tangential direction (12) of the submarine (1, 1') tangentially with respect to a longitudinal axis (14) of the submarine (1, 1') or with respect to an axis running parallel to the longitudinal axis (14) and can be positioned in the tangential direction (12) by the positioning device (13) to which the sensor information (8, 8', 8", 8''') is specified.
2. Unmanned submarine according to Claim 1,
   characterized in that
   the sensor unit (7) is arranged on a sensor carrier (16, 19) which is arranged so as to be rotatable in the tangential direction (12) on a hull (2) of the submarine (1, 1'), wherein an actuator drive (17) of the sensor carrier (16, 19) is connected in a controllable fashion to the positioning device (13).
3. Unmanned submarine according to Claim 1 or 2,
   characterized in that
   the sensor carrier is embodied as a rotatable sensor head (16) which is arranged on a bow (15) of the submarine (1, 1').
4. Unmanned submarine according to one of the preceding claims,
   characterized in that
   the sensor carrier is embodied as a sensor ring (19) which is rotatably arranged on the circumference of the hull (2).
5. Unmanned submarine according to one of the preceding claims,
   characterized in that
   the sensor unit (7) can be positioned in a pivoting direction (18) tangentially with respect to an axis which runs perpendicularly with respect to the longitudinal axis (14) or perpendicularly with respect to an axis running parallel in the longitudinal axis (14).
6. Unmanned submarine according to one of the preceding claims,
   characterized in that
   and active sensor unit (7) is provided which comprises a transmitter unit and a receiver unit.
7. Unmanned submarine according to one of the preceding claims,
   characterized in that
   the sensor unit (7) comprises optical sensors.
8. Unmanned submarine according to one of the preceding claims,
   characterized in that
   the sensor unit (7) comprises acoustic sensors.
9. Method for operating an unmanned submarine (1, 1') having at least one sensor unit (7) and having a positioning device (13) for the sensor unit (7), wherein sensor information (8, 8', 8", 8''') about objects (28, 29, 30) in the surroundings of the submarine (1, 1') are acquired with the sensor unit (7),
   characterized in that
   the sensor information (8, 8', 8", 8''') is specified to the positioning device (13), and
   the positioning device (13) positions the sensor unit (7) by moving the sensor unit in a tangential direction (12) of the submarine (1, 1') tangentially with respect to the longitudinal axis (14) of the submarine (1, 1') or with respect to an axis running parallel to the longitudinal axis (14).
10. Method according to Claim 9,
    characterized in that
    the positioning device (13) positions the sensor unit (7) in a pivoting direction (18) tangentially with respect to an axis which runs perpendicularly with respect to the axis (14) or perpendicularly with respect to an axis running parallel to the longitudinal axis (14).
11. Method according to Claim 10,
    characterized in that
    the positioning device (13) positions the sensor unit (7) according to a criterion (23) relating to the sensor information (8, 8', 8", 8''').
12. Method according to Claim 11,
    characterized in that
    the positioning device (13) acquires a variation of sensor information (8, 8', 8", 8''') from different directions, determines the respective distance (21) from the object (28, 29, 30) in the surroundings of the submarine (1, 1') and determines a contour (26) of the object (28, 29, 30) in the surroundings of the submarine (1, 1') from the variation in distances (21) which is acquired in this way, wherein the sensor unit (7) is positioned in the direction of one piece of the sensor information (8, 8', 8", 8''') which is selected according to a criterion (23) which is specified for the determined contour (26).
13. Method according to Claim 11 or 12,
    characterized in that
    the size of the determined distances (21) is used as a criterion for the orientation of the sensor unit (7).
14. Method according to one of Claim 9 to 11,
    characterized in that
    the sensor unit (7) transmits a light pattern (31) and senses a projection (32) of the light pattern (31) onto an object (28, 29, 30), wherein an incongruence of the projection (32) of the light pattern (31) is determined, and the geometry of the light pattern (31) is used as a criterion for the positioning of the sensor unit (7).
15. Method according to Claim 14,
    characterized by
    a light pattern (31) with crossed line clusters, each with parallel lines (33, 34).

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