EP2440449A1 - Verfahren zum aufspüren von anomalien an einem unterwasserobjekt - Google Patents
Verfahren zum aufspüren von anomalien an einem unterwasserobjektInfo
- Publication number
- EP2440449A1 EP2440449A1 EP10723085A EP10723085A EP2440449A1 EP 2440449 A1 EP2440449 A1 EP 2440449A1 EP 10723085 A EP10723085 A EP 10723085A EP 10723085 A EP10723085 A EP 10723085A EP 2440449 A1 EP2440449 A1 EP 2440449A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- underwater
- small vehicle
- anomaly
- transverse distance
- submarine
- 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
Links
Classifications
-
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
-
- 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
- B63G9/00—Other offensive or defensive arrangements on vessels against submarines, torpedoes, or mines
Definitions
- the invention relates to a method for detecting anomalies on an underwater object, in particular on the underwater part of a hull of a moored watercraft, according to the preamble of claim 1.
- DE 10 2005 014 555 A1 discloses a mine hunting system and a method for mine hunting with several autonomously acting underwater vehicles, a first group of these underwater vehicles having sensors being used for mine detection, and a second group of these underwater vehicles being used for controlling located mines ,
- US 2009/0090286 A1 discloses an armed, remotely operated vehicle with video and sonar sensors.
- DE 43 02 455 A1 discloses an underwater drone for fighting mines, this underwater drone having an antenna device suitable for metal detection.
- the invention has for its object to provide a cost-effective method for detecting or detecting anomalies of underwater objects, z. B. from there illegally mounted foreign bodies, such as custody, smuggled goods and the like. To specify that is efficient and largely automated without underwater use of people can be performed.
- the inventive method has the advantage that with a simple sensor equipment, such as acoustic sensor for Querabstands briefly and pressure cell for depth determination, a very reliable scanning of the underwater object can be performed and by navigating the underwater small vehicle with a constant transverse distance to the underwater object, a profile of the underwater object is obtained in whose profile line an anomaly present on the underwater object, eg an adhering foreign body, clearly emerges.
- a simple sensor equipment such as acoustic sensor for Querabstandstik and pressure cell for depth determination
- the detection of the anomaly in the measurement profile line of the acoustic distance sensor can be brought directly, eg via a trailing light from the underwater small vehicle, the warning display in a monitoring center and trigger a diving operation for inspection and / or removal of the anomaly, without the underwater small vehicle its Inspection must interrupt or cancel. This provides a significant time savings between detecting and eliminating the anomaly.
- the position of the underwater small vehicle relative to the underwater object is determined at least when detecting an anomaly.
- the underwater small vehicle drives at a constant speed and the driving time is continuously measured while driving. If an anomaly is detected, the position of the anomaly is determined from the previously measured travel time and the driving speed of the underwater small vehicle as well as the diving depth of the underwater small vehicle.
- the time measurement is started when the predetermined transverse distance of the underwater small vehicle to the underwater object is measured for the first time.
- a repeated traversing of the underwater object is carried out and changed at each shutdown, the constant depth.
- the depth of travel change of the underwater small vehicle can be carried out directly at the end of the underwater object by a 180 ° turn of the small vehicle or after a complete avoidance of the underwater object.
- 1 is a side view of a moored in a harbor surface ship
- FIG. 1 is a plan view of the surface ship in Fig. 1,
- FIG. 3 shows a diagram of the transverse distance of the underwater small vehicle from the hull of the surface ship as a function of the travel time arising from scanning of the hull of the surface ship in FIGS. 1 and 2 by an acoustic distance sensor while the underwater small vehicle is moving.
- a surface ship 1 1 is shown schematically in FIGS. 1 and 2, which is located in a harbor basin 12 and moored to a pier 13, ie with lines 14 is moored.
- an anomaly 16 is shown on the fuselage 15 of the surface ship 11, which may be, for example, a custody mine or a container filled with contraband.
- an unmanned underwater small vehicle 17 is used.
- Such unmanned, self-propelled underwater small vehicles are widely known in different assembly with sensors and measuring device.
- the underwater small vehicle 17 used here has, for example, four propeller drives 18, which are controlled separately for controlling or navigating the underwater small vehicle 17 by a navigation device 19 (FIG. 4).
- a navigation device 19 FIG. 4
- the underwater small vehicle 17 can travel straight or be steered to the right or left and upwards or downwards.
- At least one acoustic distance sensor 20 for measuring a horizontal distance extending horizontally to the vehicle axis and a depth sensor 21 for determining the diving depth of the underwater small vehicle 17 are present as sensors in the underwater small vehicle 17 used here.
- Such an acoustic distance sensor 20 may e.g. a simple sonar that emits sound pulses and receives the echoes produced by reflection of the sound pulses and measures the time between transmission and echo reception. Taking the speed of sound into account, the distance is calculated from the measured time up to the object triggering the reflection of the sound impulses.
- the depth sensor 21 is e.g. a simple pressure box.
- the output signals of the sensors 20, 21 are supplied to the navigation device 19.
- the underwater vehicle small vehicle 17 is inserted into the water from the surface ship 1 1 or from the pier 13, eg behind the stern of the surface ship 1 1, as shown in FIGS 1 .
- the horizontal transverse distance of the underwater small vehicle 17 is continuously measured by the fuselage 15 by means of the acoustic distance sensor 20.
- the underwater small vehicle 17 is thereby replaced by the navigation Device 19 controlled so that it adheres to a predetermined transverse distance from the fuselage 15 at a constant depth.
- the navigation device 19 (FIG. 4) is provided with the travel depth and the transverse distance as setpoint values T S ⁇ and dsoii, and the measured values of distance sensor 20 and depth sensor 21 are supplied as actual values d and T.
- a corresponding control loop in the navigation device 19 generates control commands for the four propeller drives 18, which hold the underwater small vehicle 17 on the addressed course.
- the measured during the ride of the underwater small vehicle 17 continuously from the distance sensor 20 actual transverse distance d is also continuously compared with the predetermined target transverse distance d S ⁇ ⁇ and dan n when the I st- transverse distance d drops significantly below the target transverse distance dsoii detected for the presence of an anomaly.
- the underwater small vehicle 17 is preferably connected via ei ne connecting line 22 (Fig. 1) with a mission monitoring center on board the surface ship 1 1, and upon detection of an anomaly can be triggered via the connecting line 22 an alarm.
- the current position of the underwater small vehicle 17 relative to the fuselage 15 of the surface ship 11 is also determined and communicated via the connecting line 22 to the mission monitoring center.
- the position is determined in a simple manner by driving the underwater small vehicle 17 at a constant speed, which is given to the navigation device 19 as a speed setpoint Vsoii, and measuring the travel time t from a starting point.
- the travel time t A measured at the time of detection of the anomaly 16 results in the traveled distance s A in the predetermined diving depth T S ⁇ ⁇ , whereby the position P A (s A ; T A ) of the underwater small vehicle 17 is fixed.
- FIG. 4 shows, by way of example, a block diagram of a device installed in the underwater small vehicle 17 with which the presented method for detecting or detecting the anomaly 16 is carried out.
- the device In addition to the already mentioned navigation device 19 and the previously mentioned sensors 20, 21, the device also has a first edge detector 23, a timer or timer 24, a comparator 25, a second edge detector 26, a gate circuit 27 and a multiplier 28.
- the output of the acoustic distance sensor 20 is connected both to the navigation device 19 and to the inputs of the edge detectors 23, 26 and the comparator 25.
- the comparator 25 is supplied via a second input of the predetermined transverse distance dsoii of the underwater small vehicle 17 from the fuselage 15 of the surface ship 1 1.
- the gate circuit 27 can be driven via the output of the comparator 25 and connects the output of the timer 24 and the input of the multiplier 28, to which the target speed Vsoii of the underwater small vehicle 17 is supplied as a multiplier.
- the outputs of the two edge detectors 23, 26 are connected to the navigation device 19.
- FIG. 3 shows a diagram to illustrate the method presented, in which the transverse distance d measured by the acoustic distance sensor 20 during the journey of the underwater small vehicle 17 is shown as a function of the travel time t.
- the exposed behind the stern of the above-water vessel 11 underwater small vehicle 17 is taking off and arrives at time t 0 at a constant speed in the depth T S ⁇ ⁇ to the rear edge of the hull 15.
- the acoustic distance sensor 20 measures against the Pierwand and If the underwater small vehicle 17 reaches the fuselage 15 of the underwater hull 1 1, a clear measured value jump occurs at the output of the acoustic distance sensor 20, since the now from the Distance sensor 20 against the fuselage 15 measured transverse distance d is much smaller than the previously measured against the pier wall transverse distance.
- This negative measurement jump leads at the output of the first edge detector 23 to a control pulse, with the one hand, the distance control circuit of the navigation device 19 is turned on and on the other hand, the timer 24 is started.
- the underwater small vehicle 17 is now controlled on a course in which the underwater small vehicle 17, the predetermined transverse distance dsoii to the fuselage 15 maintains constant.
- the underwater small vehicle 17 reaches the anomaly 16 on the fuselage 15, and the output signal of the acoustic distance sensor 20 briefly drops below the setpoint value d S ⁇ ⁇ .
- the comparator 25 which constantly compares the output of the distance sensor 20 actual value of the transverse distance d from the fuselage 15 with the predetermined desired value of the transverse distance d S ⁇ ⁇ , a pulse occurs, which causes the gate 27 for brief closing Shen , As a result, the travel time t A currently measured by the timer 24 is given to the multiplier 28. In the multiplier 28, the currently determined travel time t A is multiplied by the predetermined target speed v S ⁇ ⁇ of the underwater small vehicle 17.
- the resulting route s A together with the predetermined depth T S ⁇ ⁇ the underwater small vehicle 17 determines the position of the underwater small vehicle 17 at the moment of detecting the anomaly 16, via the connecting line 22 to the mission monitoring center on board the surface ship 1 1 and integrated there in an alarm display. Due to the alarm display can be started by the monitoring center a diving operation for inspection and removal of the anomaly 16, wherein the determined by the reported route s A and the reported depth T S ⁇ ⁇ position of the underwater small vehicle 17 indicates the position P A of the anomaly 16 which is the target for divers use.
- the underwater small vehicle 17 continues its journey with a constant transverse distance dsoii from the fuselage 15 of the surface ship 1 1. If the underwater small vehicle 17 has reached the end of the fuselage 15 and drives beyond it, the acoustic distance sensor 20 again measures the transverse distance to the pier wall, which is significantly greater than the transverse distance to the fuselage 15. At the output of the distance sensor 20, a clear measured value jump occurs towards higher readings. The positive edge of the measured value jump is detected in the second edge detector 26. The latter generates a control pulse which arrives at the navigation device 19 and there generates a maneuver. ver the underwater small vehicle 17 triggers, such as a turning maneuver to a changed depth.
- the described process of driving off the fuselage 15 by the underwater small vehicle 17 is repeatedly carried out with different depths of the underwater small vehicle 17, so that the entire fuselage 15 is also completely scanned by the acoustic distance sensor 20 in the vertical dimension. It makes sense for the underwater small vehicle, after leaving the hull area, to make a 180 ° turn and, in the next depth, drive the hull 15 in the opposite direction to its previous lane.
- the underwater small vehicle 17 must be equipped with a second acoustic distance sensor whose measuring direction is rotated by 180 ° with respect to the first acoustic distance sensor 20.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009024342A DE102009024342B9 (de) | 2009-06-09 | 2009-06-09 | Verfahren zum Aufspüren von Anomalien an einem Unterwasserobjekt |
PCT/EP2010/057172 WO2010142526A1 (de) | 2009-06-09 | 2010-05-25 | Verfahren zum aufspüren von anomalien an einem unterwasserobjekt |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2440449A1 true EP2440449A1 (de) | 2012-04-18 |
EP2440449B1 EP2440449B1 (de) | 2013-04-03 |
Family
ID=42684802
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10723085A Active EP2440449B1 (de) | 2009-06-09 | 2010-05-25 | Verfahren zum aufspüren von anomalien an einem unterwasserobjekt |
Country Status (4)
Country | Link |
---|---|
US (1) | US8820261B2 (de) |
EP (1) | EP2440449B1 (de) |
DE (1) | DE102009024342B9 (de) |
WO (1) | WO2010142526A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010056517A1 (de) * | 2010-12-29 | 2012-07-05 | Atlas Elektronik Gmbh | Erkennungsvorrichtung und Erkennungsverfahren zum Erkennen eines in einem Gewässer angeordneten und einen chemischen Stoff aufweisenden Unterwasserkörpers sowie System mit Unterwasserfahrzeug und Erkennungsvorrichtung |
US10330641B2 (en) * | 2012-10-27 | 2019-06-25 | Valerian Goroshevskiy | Metallic constructions monitoring and assessment in unstable zones of the earth's crust |
CN103577808A (zh) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | 一种蛙人识别方法 |
US10011336B2 (en) | 2015-03-03 | 2018-07-03 | Massachusetts Institute Of Technology | Underwater vehicle design and control methods |
DE102018110659A1 (de) * | 2018-05-03 | 2019-11-07 | Subdron Gmbh | Verfahren zum Steuern eines Unterwasserfahrzeugs |
US11753126B2 (en) | 2021-01-12 | 2023-09-12 | Raytheon Company | Underwater vehicle inspection |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DD300802A7 (de) * | 1983-03-07 | 1992-08-06 | Inst F Regelungstechn Im Komb | Anordnung hydroakustischer Wandler zur Grundabstandsmessung in geschleppten Unterwasserkörpern |
DE4302455A1 (de) * | 1993-01-29 | 1994-08-04 | Diehl Gmbh & Co | Unterwasserdrohne |
US5321667A (en) * | 1993-04-27 | 1994-06-14 | Raytheon Company | Sonar systems |
GB2359049A (en) | 2000-02-10 | 2001-08-15 | H2Eye | Remote operated vehicle |
AUPR560001A0 (en) * | 2001-06-08 | 2001-07-12 | Hostetler, Paul Blair | Mapping method and apparatus |
DE102005014555B4 (de) * | 2005-03-31 | 2010-07-29 | Atlas Elektronik Gmbh | Minenjagdsystem und Verfahren zur Minenjagd |
DE102005062109A1 (de) * | 2005-12-23 | 2008-09-25 | Atlas Elektronik Gmbh | Verfahren und Vorrichtung zur Abwehr von unter Wasser eindringenden Personen |
US8220408B2 (en) * | 2007-07-31 | 2012-07-17 | Stone William C | Underwater vehicle with sonar array |
US20090090286A1 (en) * | 2007-10-09 | 2009-04-09 | Korolenko Kryill V | Armed Remotely Operated Vehicle |
-
2009
- 2009-06-09 DE DE102009024342A patent/DE102009024342B9/de not_active Expired - Fee Related
-
2010
- 2010-05-25 EP EP10723085A patent/EP2440449B1/de active Active
- 2010-05-25 WO PCT/EP2010/057172 patent/WO2010142526A1/de active Application Filing
- 2010-05-25 US US13/322,085 patent/US8820261B2/en not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO2010142526A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP2440449B1 (de) | 2013-04-03 |
US8820261B2 (en) | 2014-09-02 |
DE102009024342B3 (de) | 2010-11-25 |
WO2010142526A1 (de) | 2010-12-16 |
DE102009024342B9 (de) | 2012-01-05 |
US20120103245A1 (en) | 2012-05-03 |
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