EP2440449B1 - Procede de reperage d'anomalies sur un objet sous-marin - Google Patents

Procede de reperage d'anomalies sur un objet sous-marin Download PDF

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Publication number
EP2440449B1
EP2440449B1 EP10723085A EP10723085A EP2440449B1 EP 2440449 B1 EP2440449 B1 EP 2440449B1 EP 10723085 A EP10723085 A EP 10723085A EP 10723085 A EP10723085 A EP 10723085A EP 2440449 B1 EP2440449 B1 EP 2440449B1
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EP
European Patent Office
Prior art keywords
underwater
small vehicle
anomaly
soll
transverse distance
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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.)
Active
Application number
EP10723085A
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German (de)
English (en)
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EP2440449A1 (fr
Inventor
Detlef Lambertus
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 of EP2440449A1 publication Critical patent/EP2440449A1/fr
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    • 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.
  • underwater objects such as foundations of conveyors and wind farms, docks, hulls of in-port vessels and submarines, are exposed to underwater manipulation by divers or guided underwater vehicles unprotected. So unnoticed, for example, can be attached to detention mines, which are then remotely ignited.
  • a mine-hunting system and a mine-hunting method with a plurality of autonomously-acting submersibles are known wherein a first group of such underwater vehicles having sensors is used for mine-finding, and a second group of such under-water vehicles is used to control located mines.
  • off DD 300 802 A7 an underwater body with a fixed arrangement of hydroacoustic transducers for basic distance measurement known that can be used universally in three modes.
  • 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 to the Waman Servicee in a monitoring center, for example via a towed by the underwater small vehicle light guide 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 speed of the underwater small vehicle as well as the 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. By this procedure, the position of the underwater small vehicle and thus the object-related position of the anomaly can be determined by a simple time measurement.
  • 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 performed 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.
  • a surface ship 11 shown schematically, which is located in a harbor basin 12 and moored to a pier 13, that is moored with lines 14, is.
  • an anomaly 16 is shown on the hull 15 of the surface ship 11, e.g. an adhesive mine or a container filled with contraband can be.
  • 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 used to control or navigate the underwater small vehicle 17 by a navigation device 19 (FIG. Fig. 4 ) are controlled separately.
  • the underwater small vehicle 17 can go straight or be steered to the right or left and up or down.
  • 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 be, for example, a simple echosounder which emits sound pulses and receives the echoes produced by reflection of the sound pulses and measures the time between the transmission and the echo reception. Taking into account the speed of sound, the distance is calculated from the measured time up to the object which triggers the reflection of the sound pulses.
  • the depth sensor 21 is for example 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 used by the surface ship 11 or from the pier 13 into the water, for example - as in Fig. 1 and 2 darg Congress is - behind the stern of the surface ship 11, and travels along the fuselage 15 of the surface ship 11. While driving the underwater small vehicle 17 by means of the acoustic distance sensor 20 continuously the horizontal transverse distance of the underwater small vehicle 17 from the fuselage 15 is measured. The underwater small vehicle 17 is thereby from the navigation device 19 controlled so that it adheres to a predetermined transverse distance from the fuselage 15 at a constant depth. For this purpose, the navigation device 19 (FIG. Fig.
  • the measured during the ride of the underwater small vehicle 17 continuously from the distance sensor 20 actual lateral distance d is also continuously compared with the predetermined target transverse distance d Soll and then when the actual transverse distance d significantly below the target transverse distance d target drops to presence detected an anomaly.
  • the underwater small vehicle 17 is preferably connected via a connecting line 22 (FIG. Fig. 1 ) is connected to a mission monitoring center aboard the surface ship 11, and if an abnormality is detected, an alarm can be triggered via the connection line 22.
  • the current position of the underwater small vehicle 17 is determined relative to the fuselage 15 of the surface ship 11 and communicated via the connecting line 22 of the mission monitoring center.
  • the position determination is carried out in a simple manner in that the underwater small vehicle 17 at constant speed, which is the navigation device 19 as speed setpoint v set is set, runs and from a starting point from the travel time t is measured.
  • the travel time t A measured at the time of detecting the anomaly 16 gives the traveled distance s A in the predetermined diving depth T Soll , whereby the position P A (s A ; T A ) of the underwater small vehicle 17 is fixed.
  • the time t o is selected as the starting point of the time measurement, at which the distance sensor 20 first measures a transverse distance d after exposure of the underwater small vehicle 17, which corresponds to the predetermined desired transverse distance d Soll , then the output position P A (s A ; T A ) of the underwater small vehicle at the same time the position of the anomaly 16 on the fuselage 15 of the surface ship 11th
  • a block diagram of a device installed in the underwater small vehicle 17 is shown, with which the presented method for detecting or detecting the anomaly 16 is performed.
  • 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 d Soll of the underwater small vehicle 17 from the fuselage 15 of the surface ship 11.
  • the gate circuit 27 can be controlled via the output of the comparator 25 and connects the output of the timer 24 and the input of the multiplier 28, as the multiplier, the target speed V Soll of the underwater small vehicle 17 is supplied.
  • the outputs of the two edge detectors 23, 26 are connected to the navigation device 19.
  • Fig. 3 shows to illustrate the presented method, a diagram in which during the ride of the underwater small vehicle 17 is measured by the acoustic distance sensor 20 transverse distance d is shown as a function of travel time t.
  • the acoustic distance sensor 20 measures against the pier wall and thus the Transverse distance d to the pier wall, which is significantly greater than the navigation device 19 predetermined setpoint d target .
  • 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 desired value d setpoint .
  • the comparator 25 which constantly compares the output from the distance sensor 20 actual value of the transverse distance d from the fuselage 15 with the predetermined target value of the transverse distance d desired , a pulse occurs, which causes the gate 27 for short-term closing.
  • the travel time t A currently measured by the timer 24 is given to the multiplier 28.
  • the currently determined travel time t A is multiplied by the predetermined target speed v Soll of the underwater small vehicle 17.
  • the resulting route s A together with the predetermined depth T set of the underwater small vehicle 17 determines the position of the underwater small vehicle 17 at the moment of finding the anomaly 16 can be transmitted via the connecting line 22 to the mission monitoring center on board the surface ship 11 and integrated into an alarm display. Based on the alarm display, a scuba diving mission can be started by the monitoring center to inspect and eliminate the anomaly 16, wherein the position of the submarine small vehicle 17 determined by the reported route s A and the reported diving depth T Soll indicates the position P A of the anomaly 16 the target for divers use.
  • the underwater small vehicle 17 continues its journey with a constant transverse distance d Soll from the hull 15 of the surface ship 11. 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 reaches the navigation device 19 and there a maneuver of the underwater small vehicle 17 triggers, such as a turning maneuver to a changed depth.
  • the described process of running the hull 15 through the underwater small vehicle 17 is repeatedly performed with different depth of the underwater small vehicle 17, so that the entire body 15 is completely scanned in the vertical dimension of the acoustic distance sensor 20. 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. In this case, 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)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Claims (4)

  1. Procédé de repérage d'anomalies (16) sur un objet sous-marin, en particulier dans la zone immergée d'une coque (15) d'un navire amarré,
    caractérisé en ce
    qu'un petit véhicule sous-marin (17) sans équipage, qui est équipé d'un dispositif de navigation (19) et d'un capteur acoustique mesurant transversalement au sens de déplacement, se déplace à profondeur constante (Tsoll) le long de l'objet sous-marin et ce faisant l'écart transversal entre le petit véhicule sous-marin (17) et l'objet sous-marin est mesuré en continu avec le capteur acoustique, en ce qu'avec le dispositif de navigation (19) le petit véhicule sous-marin (17) est commandé de telle sorte que le petit véhicule sous-marin (17) maintient constant un écart transversal (dSoll) prédéterminé par rapport à la coque (15), et en ce que l'écart transversal (d) mesuré est comparé en continu à l'écart transversal (dSoll) prédéterminé et en cas de différence significative, une anomalie (16) sur l'objet sous-marin est détectée.
  2. Procédé selon la revendication 1,
    caractérisé en ce
    que l'objet sous-marin est parcouru plusieurs fois et à chaque trajet la profondeur de déplacement constante (TSoll) du petit véhicule sous-marin (17) est modifiée.
  3. Procédé selon la revendication 1 ou 2,
    caractérisé en ce
    qu'au moins lors de la détection d'une anomalie la position du petit véhicule sous-marin (17) par rapport à l'objet sous-marin est déterminée.
  4. Procédé selon la revendication 3,
    caractérisé en ce
    que le petit véhicule sous-marin (17) se déplace à vitesse constante (vsoll) et la durée de déplacement (t) est mesurée en continu et en ce que lors de la détection d'une anomalie, la composante horizontale de la position de l'anomalie (16) est déterminée à partir de la durée de déplacement (tA) mesurée jusqu'alors et de la vitesse de déplacement (vsoll) du petit véhicule sous-marin (17).
EP10723085A 2009-06-09 2010-05-25 Procede de reperage d'anomalies sur un objet sous-marin Active EP2440449B1 (fr)

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 (fr) 2009-06-09 2010-05-25 Procédé de repérage d'anomalies sur un objet sous-marin

Publications (2)

Publication Number Publication Date
EP2440449A1 EP2440449A1 (fr) 2012-04-18
EP2440449B1 true EP2440449B1 (fr) 2013-04-03

Family

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Application Number Title Priority Date Filing Date
EP10723085A Active EP2440449B1 (fr) 2009-06-09 2010-05-25 Procede de reperage d'anomalies sur un objet sous-marin

Country Status (4)

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US (1) US8820261B2 (fr)
EP (1) EP2440449B1 (fr)
DE (1) DE102009024342B9 (fr)
WO (1) WO2010142526A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
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
JP2018507138A (ja) 2015-03-03 2018-03-15 マサチューセッツ インスティテュート オブ テクノロジー 水中車両設計および制御方法
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

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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

Also Published As

Publication number Publication date
WO2010142526A1 (fr) 2010-12-16
EP2440449A1 (fr) 2012-04-18
US8820261B2 (en) 2014-09-02
DE102009024342B3 (de) 2010-11-25
DE102009024342B9 (de) 2012-01-05
US20120103245A1 (en) 2012-05-03

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