EP2598396B1 - Method and system for reconnoitering a region under water - Google Patents

Description

US 6,854,410 B1 discloses a method and apparatus according to the preambles of claims 1 and 8.

US 5,235,931 A and EP 2 003 053 A1 disclose devices and methods for suspending underwater vehicles by submarines.

The invention relates to a method for reconnaissance of a ruler under water by means of a torpedo-shaped underwater vehicle. Furthermore, the invention relates to a system which can be used according to this method.

Traditionally, reconnaissance areas have been elucidated underwater by means of underwater sensors or underwater vehicles or by means of aircraft with submergible sensors. For this purpose, the vehicles drive through the reconnaissance area and at the same time capture their surroundings by means of their sensors. As a result, sensor data of the area surrounding the sensors are generated. The generated sensor data are evaluated to clarify the reconnaissance area.

US 6,11 8,066 describes an underwater vehicle that is designed as an autonomously operating unmanned underwater vehicle, hereinafter referred to as AUV, which has sensors on board to generate sensor data. Furthermore, the AUV has its own drive to drive through an area under water. The distance to be traveled to or from the area to be cleared is limited by energy reserves arranged on board the AUV for driving the AUV. Therefore, the AUV requires a launch location located in a nearby area of the reconnaissance area, with the nearby area being defined by the energy reserves of the self-propelled AUV.

A disadvantage of reconnaissance of an underwater area by means of such an underwater vehicle is the limited distance that can be traveled from the starting position to the reconnaissance area and a subsequent distance to cover the reconnaissance area.

DE 44 40 150 C2 describes a remotely steered reconnaissance vehicle having sensors in its head section for reconnaissance of an underwater area. The remotely steered reconnaissance vehicle is launched from a submarine, travels underwater to a destination and uses its sensors to generate sensor data that is forwarded to the submarine.

This known Aufklärungsfahrzeug for a submarine has the disadvantage that only at the destination by means of its sensors, the environment can be explained. If additional sensors underwater are needed for reconnaissance at the destination, another reconnaissance vehicle must be launched from the submarine. The further reconnaissance vehicle in turn needs time to drive to the destination.

After all, the invention is based on the problem of providing a method for time-efficient reconnaissance of an underwater area.

The invention solves this problem by means of the method according to claim 1.

Furthermore, the invention solves the problem by means of the system according to claim 8.

The invention is based on the finding that torpedo-shaped underwater vehicles not only have their own sensors, but can also transport UUVs, which in turn have their own sensors on board. In this way, reconnaissance underwater in the reconnaissance area is carried out by means of two-sensor underwater vehicles. In accordance with the invention, this saves time, since an underwater vehicle having a second sensor is already located in the torpedo-shaped underwater vehicle in the reconnaissance area. Thanks to the second transporting underwater vehicle, the reconnaissance in the reconnaissance area can be parallelized.

According to the invention, the torpedo-shaped underwater vehicle has a transport space from which one or more UUVs can be exposed at a UUV exposure location. The UUV suspension location corresponds, for example, to a destination in the reconnaissance area, which is advantageously located outside the area of a launch platform that transports the underwater vehicle.

According to the invention, time is saved by the UUV no longer having to travel from the spaced launch platform to the destination, but the UUV is already at the destination.

According to the solution, the underwater vehicle has a torpedo-shaped outer shell. In this way, the underwater vehicle by means of a launch platform, which is suitable for conventional torpedoes, in particular by means of a torpedo tube, startable.

In a preferred embodiment of the method according to the invention, the sensor data of the area of the torpedo-shaped underwater vehicle to be cleared, hereinafter referred to as torpedo reconnaissance data, are evaluated by means of a computing unit, in particular a remote computing unit of a control center. Depending on a positive rating of the torpedo reconnaissance data, at least one UUV will be exposed from the torpedo-shaped underwater vehicle. According to the invention, the torpedo reconnaissance data can already be assessed while driving through the reconnaissance area. For example, an object that is considered conspicuous corresponds to a positive rating, which results in the suspension of one or more UUVs in the area of the conspicuous object. In this way, a UUV exposure location of the UUVs can not only be defined prior to performing the reconnaissance procedure according to the invention but also during the ongoing reconnaissance procedure. Advantageously, the UUV exposure location is thus determined dynamically. In this way, the route to UUV-Aussetzungsort for another sensors having underwater vehicle, such as. The UUV, not covered again and thus saves time and energy for covering the route.

Advantageously, the arithmetic unit for evaluating the torpedo reconnaissance data is arranged in the torpedo-shaped underwater vehicle. In this way, the evaluation is carried out by means of an automatically generated decision using previously defined rules. Alternatively, the arithmetic unit is arranged to evaluate the torpedo reconnaissance data at a distance from the torpedo-shaped underwater vehicle in a control center. As a result, the evaluation of the torpedo reconnaissance data can be done either by personnel of the control center or automatically based on previously defined rules.

In a further preferred embodiment of the method according to the invention, the sensor data of the area surrounding the UUV, to be cleared up, hereinafter referred to as UUV reconnaissance data, are transmitted to the torpedo-shaped underwater vehicle. The torpedo-shaped underwater vehicle transmits the UUV reconnaissance data to the arithmetic unit and / or the UUV receives data from the torpedo-shaped submarine vehicle. The data includes information and / or commands for controlling the UUV, in particular the Data of the torpedo-shaped underwater vehicle for the UUV were previously received from the remote computing unit of the control center. In this way, the UUV is connected to the arithmetic unit of the control center and / or the arithmetic unit of the torpedo-shaped underwater vehicle. The UUV reconnaissance data are thus preferably not evaluated on board the UUV, but by means of the remote computing unit of the control center. Advantageously, the UUV data can thus be evaluated before salvaging the UUV.

In addition, data from the torpedo-shaped underwater vehicle is received at the UUV. The data for the UUV torpedo-shaped underwater vehicle has preferably been previously received by the remote computing unit of the control center. The data includes information and / or commands for controlling the UUV, such as UUV propulsion speed data, UUV's rudder direction data, UUV ballast tank depth data, and / or destination position navigation data. As a result, the UUV is controllable by means of the control center.

In a further embodiment of the method according to the invention, the UUV reconnaissance data are evaluated by means of the spaced-apart computing unit of the control center or of another arithmetic unit, in particular of a computing unit on board the torpedo-shaped underwater vehicle. If there is a positive assessment of the UUV reconnaissance data, the UUV performs actions to manipulate one or more reconnaissance objects, in particular chain disconnection, mine blasting, underwater buoys, and / or soil sampling. Advantageously, the UUV reconnaissance data are already evaluated while driving through the reconnaissance area of the UUV. The evaluation is carried out by means of the arithmetic unit of the spaced control center, the arithmetic unit of the torpedo-shaped underwater vehicle and / or a computing unit arranged on board the UUV. In this way, an object in the Enlightenment area is not only detectable, but also editable by actions. Advantageously, the processing of the object in the reconnaissance area with the same UUV feasible if the UUV has the necessary tools for editing. As a result, this information can already be interrupted during the investigation of the UUV on the basis of the assessed UUV reconnaissance data and one or more actions can be carried out. Advantageously, a ride with an underwater vehicle having further tools is therefore unnecessary.

In a further preferred embodiment of the method according to the invention, the UUV autonomously passes through the reconnaissance area, in particular a subarea of the reconnaissance area, and stores the UUV reconnaissance data for a time-shifted transmission to a computing unit. In this way, the suspended UUV is from the torpedo-shaped underwater vehicle independently. After the suspension of the UUVs, there is thus no connection to the arithmetic unit of the torpedo-shaped underwater vehicle and / or the arithmetic unit of the remote control center. Advantageously, reconnaissance by means of the torpedo-shaped underwater vehicle can be continued. Further, the length of a reconnaissance path in the reconnaissance area is independent of the length of any communications line between the UUV and the torpedo-shaped submersible. Advantageously, the UUV carries out the reconnaissance therefore parallel to the reconnaissance of the torpedo-shaped underwater vehicle. After the suspended UUV is recovered, the stored sensor data is transferable.

In a further embodiment of the method according to the invention, the travel speed of the torpedo-shaped underwater vehicle for the suspension and / or recovery of the UUV is limited or the travel of the torpedo-shaped underwater vehicle is stopped. By limiting the travel speed of the torpedo-shaped underwater vehicle, the suspension of the UUV is simplified, since due to the vehicle speed pending flow forces on the outside of the torpedo-shaped underwater vehicle are lower. The risk of a collision of UUV and torpedo-shaped underwater vehicle is thus lower. Alternatively, the drive of the torpedo-shaped underwater vehicle is stopped. In this way, the torpedo-shaped underwater vehicle can wait in the area of the stopped position until the UUV is exposed and / or salvaged. Advantageously, UUV reconnaissance data in the region of the exposure location can be generated for the torpedo reconnaissance data.

In a further preferred embodiment of the method according to the invention the torpedo-shaped underwater vehicle is recovered after the reconnaissance area has been traversed, at the same time by means of one or more sensors arranged on board the torpedo-shaped underwater vehicle the environment of the torpedo-shaped underwater vehicle is detected and torpedo reconnaissance data are generated - hereinafter referred to as Torpedo reconnaissance method - and after the torpedo-shaped underwater vehicle has carried one or more UUVs and has been exposed from the torpedo-shaped underwater vehicle at least one UUV, which has generated UUV reconnaissance data by means of one or more sensors arranged on board the UUV - hereinafter referred to as UUV reconnaissance method , Subsequently, again with the same torpedo-shaped underwater vehicle, a torpedo reconnaissance method is performed, wherein possibly during or after the torpedo reconnaissance method, the UUV reconnaissance method is performed. By salvaging the torpedo-shaped underwater vehicle this can be used multiple times. Advantageously, costs for the method according to the invention are kept low by using the same torpedo-shaped underwater vehicle for each further reconnaissance. To Recovery of the torpedo-shaped underwater vehicle, the power supply is advantageously recharged or renewed.

In a further embodiment of the system according to the invention, the torpedo-shaped underwater vehicle has a UUV control converter which is designed to establish a communication link between the UUV and a computing unit connected to the torpedo-shaped underwater vehicle, in particular the spaced-apart computing unit of a control center. In this way, the arithmetic unit of the torpedo-shaped underwater vehicle is connected to the UUV for message transmission. The communication link between the UUV and the torpedo-shaped underwater vehicle can be formed as a line-bound, electromagnetically based and / or hydroacoustically based communication link. The communication link is, for example, a fiber optic cable or an underwater modem. In this way, the UUV is controllable by means of the UUV control converter from the remote computing unit of the control center.

In a further embodiment of the system according to the invention, the torpedo-shaped underwater vehicle, which is formed in sections, one or more transport sections, in each of which a transport space is arranged. As a result, one or more UUVs can be transported by means of the torpedo-shaped underwater vehicle. Preferably, the transport section is a further section that can be inexpensively integrated according to a modular principle into other section-shaped torpedo-shaped underwater vehicles.

In a preferred embodiment of the system according to the invention, the UUV has sensors which, however, differ at least in one sensor from the sensors arranged on board the torpedo-shaped underwater vehicle. Advantageously, the sensors of the torpedo thus differ from those of the UUV. In this way the reconnaissance area is more differentiated, i. by means of other information and / or further details, informable. For example. The torpedo-shaped underwater vehicle has sensors that are designed as sonars. The UUV transported by the torpedo-shaped underwater vehicle has, for example, in contrast to the torpedo-shaped underwater vehicle, a sonar and in addition an optical camera. In this way, the torpedo reconnaissance method differs from the UUV reconnaissance method in terms of the nature and / or resolution of the information of the environment.

In a preferred embodiment, the torpedo-shaped underwater vehicle on an opening device in the region of the transport space, which is designed to suspend the transported UUV and / or recover an exposed UUV. The opening device has, for example, a flap with which the UUV is exposed or recovered in an open state. Preferably, a closed state after opening to suspend the UUVs can be restored. In this way, the UUV is suspendable and the reconnaissance using the externally unchanged torpedo-shaped underwater vehicle can be continued.

In an alternative embodiment of the system according to the invention, the opening device of the torpedo-shaped underwater vehicle is designed so as to suspend the UUV only once. For this purpose, the opening device on a detachable, in particular absprengbare, shell of the transport space. In this way, the UUV is exposed by dissolving the transport space into the water. In this alternative embodiment, the torpedo-shaped underwater vehicle thus has an incomplete shell. This is advantageous if the UUV promptly, i. without further preparation, should be exposed to water.

In a further preferred embodiment of the system according to the invention, the UUV and / or the torpedo-shaped underwater vehicle has a transport device which is designed to transport one or more UUVs secured against damage in the transport space of the torpedo-shaped underwater vehicle. By securing the UUVs in the transport space of the torpedo-shaped underwater vehicle by means of the transport device, the UUVs and advantageously the torpedo-shaped underwater vehicle are protected against mechanical damage that can result from position and position changes of the torpedo-shaped underwater vehicle. In this way, the torpedo-shaped underwater vehicle is not limited in its feasible maneuvers, i. just as maneuverable as without a transport load arranged in the transport space.

Preferably, by means of the transport device, the UUV is transported in a position which is advantageous for the opening device. In this way, the suspension or recovery of the UUVs is facilitated.

In a further preferred embodiment of the system according to the invention, the torpedo-shaped underwater vehicle has one or more control cells, in particular trim tanks and / or ballast tanks, which are designed such that when the torpedo-shaped underwater vehicle is stopped, the position and / or the buoyancy or downforce of the torpedo-shaped Underwater vehicle underwater to balance. The control cells have in their interior a medium which causes a buoyancy or downforce. For example. The control cells have air which can be discharged or fed into or out of the control cells. Advantageously, the torpedo-shaped underwater vehicle in its front and rear area and / or to its longitudinal axis opposite control cells. In this way, the position and / or the lift or the output of the torpedo-shaped underwater vehicle can be controlled. Advantageously, when the ride is stopped, a position can be maintained in a controlled manner in order to deposit or recover the UUV.

Fig. 1

ein Ausführungsbeispiel eines erfindungsgemäßen Systems;

Fig. 2

ein weiteres Ausführungsbeispiel des erfindungsgemäßen Systems;

Fig. 3

ein weiteres spezielles Ausführungsbeispiel des erfindungsgemäßen Systems mit einer Recheneinheit eines Kontrollzentrums;

Fig. 4

ein Ausführungsbeispiel eines erfindungsgemäßen Verfahrens zum Aufklären eines Gebietes unter Wasser;

Fig. 5

ein Szenario zur Erläuterung von unterschiedlichen Sensoren des erfindungsgemäßen Systems;

Fig. 6

ein Szenario zur Erläuterung der Kontrolle eines unbemannten Unterwasserfahrzeugs des erfindungsgemäßen Systems;

Fig. 7

ein weiteres Ausführungsbeispiel des erfindungsgemäßen Verfahrens zum Aufklären eines Aufklärungsgebietes mittels des unbemannten Unterwasserfahrzeugs;

Fig. 8

ein weiteres Szenario zur Erläuterung der Wiederverwendung eines torpedoförmigen Unterwasserfahrzeugs des erfindungsgemäßen Systems;

Fig. 9

ein weiteres besonderes Szenario zur Erläuterung des erfindungsgemäßen Verfahrens;

Fig. 10

ein weiteres Ausführungsbeispiel des erfindungsgemäßen Verfahrens zum Aussetzen eines unbemannten Unterwasserfahrzeugs und

Fig. 11

ein spezielles Ausführungsbeispiel des erfindungsgemäßen Verfahrens zur Aufklärung eines Gebietes unter Wasser.

Further advantageous embodiments will become apparent from the dependent claims and from the accompanying drawings illustrated embodiments. In the drawing show:

Fig. 1

an embodiment of a system according to the invention;

Fig. 2

a further embodiment of the system according to the invention;

Fig. 3

a further specific embodiment of the system according to the invention with a computing unit of a control center;

Fig. 4

an embodiment of a method according to the invention for clearing an area under water;

Fig. 5

a scenario for explaining different sensors of the system according to the invention;

Fig. 6

a scenario for explaining the control of an unmanned underwater vehicle of the system according to the invention;

Fig. 7

a further embodiment of the method according to the invention for reconnaissance of a reconnaissance area by means of the unmanned underwater vehicle;

Fig. 8

a further scenario for explaining the reuse of a torpedo-shaped underwater vehicle of the system according to the invention;

Fig. 9

another special scenario for explaining the method according to the invention;

Fig. 10

a further embodiment of the inventive method for exposing an unmanned underwater vehicle and

Fig. 11

a special embodiment of the inventive method for reconnaissance of an area under water.

Fig. 1 shows a system according to the invention comprising a torpedo-shaped underwater vehicle 10 and an unmanned underwater vehicle, hereinafter referred to as UUV 12 ("Unmanned Underwater Vehicle"). The torpedo-shaped underwater vehicle 10 has several sections. The sections comprise a power supply section 14, a sensor section 16, which in particular has a sonar head, and a drive section 18. Preferably, the torpedo-shaped underwater vehicle 10 has a further section which can be used to transport one or more UUVs 12, namely one in a transport section 20 arranged inventive transport space 22. The transport space 22 has according to Fig. 1 a transportable UUV 12 on.

The UUV 12 has its own sensors 24 and / or own tools / tools 26. The sensors 24 of the UUV 12 are, for example, sonars, camera systems, hydrophones, magnetometers and other sensors that are suitable for reconnaissance of objects under water. The tools / tools 26 of the UUV 12 are, for example, explosive charges and / or auxiliaries capable of handling an object, i. to move, mark or otherwise edit.

According to Fig. 1 the transport section 20 is arranged between the power supply section 14 and the sensor section 16. The inventive idea is not limited to this arrangement, but provides an arrangement of the transport space 22 at any point of the torpedo-shaped underwater vehicle before. In particular, a combination of a drive section with the transport space 22 and a combination of the transport space 22 with any section as disclosed.

Fig. 2 shows an advantageous opening device 28, which is designed to spend transported UUVs 12 (not shown) from the interior of the torpedo space 22 to the exterior of the torpedo-shaped underwater vehicle 10, ie to suspend into the water. The opening device 28 has at least one closable opening which is designed to expose the interior of the transport space 22 lying UUVs 12. By means of the opening device 28, the transported UUVs 12, in particular during the journey of the torpedo-shaped underwater vehicle 10, interchangeable.

The transport space 22 can advantageously be flooded with (sea) water when the torpedo-shaped underwater vehicle 10 is moved, so that no air trapped in the transport space 22 rises when the transport space 22 is opened, thus changing the position of the torpedo-shaped underwater vehicle 10 in an uncontrolled manner.

Preferably, the opening device 28 has a recovery arm for recovering suspended UUVs. In this way, exposed UUVs are recoverable.

Fig. 3 shows a further embodiment of the inventive system comprising the torpedo-shaped underwater vehicle 10 and the two UUVs 12. The torpedo-shaped underwater vehicle 10 has inside its transport space 22 two UUVs 12. The UUVs 12 are transported by means of a transport device 30, which is arranged in the transport space 22, stabilized with respect to their relative position in the transport space 22. In this way, the UUVs 12 are protected from mechanical collisions with the transport space 22 or with the opening device 28. Advantageously, the UUVs 12 are thus secured in the torpedo-shaped underwater vehicle 10 transportable.

Furthermore, the torpedo-shaped underwater vehicle 10 according to Fig. 3 a computing unit 32. The arithmetic unit 32 is connectable by means of a communication link 34 to a remote computing unit of a control center 36. By means of the arithmetic unit of the control center 36, the torpedo-shaped underwater vehicle 10 can be controlled and, in addition, further data can be exchanged. The further data can be transmitted and / or received by the arithmetic unit 32 of the torpedo-shaped underwater vehicle 10 to the spaced-apart computing unit of the control center 36. The further data preferably includes command and information data for the drive section 18 and / or the sensor section 16.

The arithmetic unit 32 of the torpedo-shaped underwater vehicle 10 is according to Fig. 3 connected to a UUV control converter 38. The UUV control converter 38 can be connected to the UUVs 12 by means of a communication link 40. In this way, sensor data of the sensors 24 of the UUVs 12 can be transmitted to the arithmetic unit 32. Furthermore, the sensor data of the UUVs 12 can be transmitted by means of the arithmetic unit 32 to the remote computing unit of the control center 36. Advantageously, the sensor data of the UUV can thus be received by means of the arithmetic unit of the control center 36 and therefore also be evaluated.

Advantageously, data for controlling the UUVs 12 can be sent by the arithmetic unit of the control center 36 to the UUVs 12. Further, by means of the UUV control converter 38, both data for the torpedo-shaped underwater vehicle 10 and data for the UUVs 12 can be transmitted via the communication link 34 from the arithmetic unit of the control center 36. In this way, a communication link between the UUV 12 and the arithmetic unit of the control center 36 is unnecessary.

The communication link 34 between the arithmetic unit of the control center 36 and the arithmetic unit 32 of the torpedo-shaped underwater vehicle 10 and the communication link 40 between the arithmetic unit 32 and the UUVs 12, however, are not limited to a communication link with physical lines, in particular fiber optic lines or copper lines. Alternatively, the communication links by means of acoustic waves, electromagnetic waves and / or optical waves can be produced.

Fig. 4 shows an embodiment of a method according to the invention for clearing an area under water using a flowchart. The flowchart starts in a start block 50 from which branch 52 leads to an enlightenment definition block 54. In the reconnaissance definition block 54, a reconnaissance area and / or an enlightenment destination object are defined for a reconnaissance process. Following this definition, a torpedo start block 58 follows via a branch 56.

In the torpedo launch block 58, the torpedo-shaped underwater vehicle 10 is brought into the water with the UUVs 12 contained in its transport space 22 from a launch platform at a torpedo exposure location. After bringing the torpedo-shaped underwater vehicle 10 in the torpedo launch block 58, a branch 60 leads to a transit trip block 62.

In the transit block 62, the torpedo-shaped underwater vehicle 10 travels to the reconnaissance area. After the torpedo-shaped underwater vehicle 10 reaches the reconnaissance area, a branch 64 leads to a torpedo reconnaissance process block 66.

In the torpedo reconnaissance process block 66, the torpedo-shaped underwater vehicle 10 passes through the reconnaissance area and simultaneously detects the surroundings of the torpedo-shaped underwater vehicle 10 by means of one or more sensors aboard the torpedo-shaped underwater vehicle 10 and generates sensor data of the reconnaissance area surrounding the torpedo-shaped underwater vehicle 10. While the reconnaissance area is being traversed, one or more UUVs 12 are also being transported. During the torpedo reconnaissance process block 66, a branch 68 leads to a stop decision block 70.

In the stop decision block 70, it is checked if there is an abort condition. The termination condition is given if the reconnaissance area has been completely traversed or the energy of the power supply section 14 is exhausted for travel to a predefined torpedo rescue location. If so, then via a branch 72 the torpedo salvage block 74 follows.

In the torpedo salvage block 74 or at the torpedo exposure location, the torpedo-shaped underwater vehicle 10 travels back to the torpedo exposure location or, alternatively, relocates to another location. After salvaging the torpedo-shaped underwater vehicle 10 in the torpedo salvage block 74, a branch 76 leads to an end block 78 marking the end of the process.

If the abort condition is not met in the stop decision block 70, branching via a branch 80 results in a UUV reconnaissance decision block 82.

In the UUV reconnaissance decision block 82, it is checked whether the sensor data of the reconnaissance area surrounding the torpedo underwater vehicle 10, hereinafter referred to as torpedo reconnaissance data, has abnormalities. The torpedo reconnaissance data will evaluate and result in a positive rating if the target to be reconcentrated appears to be included in the torpedo reconnaissance data. If the evaluation of the torpedo reconnaissance data is negative, the branch returns to the torpedo reconnaissance procedure block 66 via a branch 84.

If the evaluation of the torpedo reconnaissance data is positive, a branch is made to a UUV reconnaissance procedure block 88 via a branch 86. In the UUV reconnaissance process block 88, the UUV 12 carried by the turret underwater vehicle 10 is exposed from the torpedo-shaped underwater vehicle 10. After exposure of the UUV 12, the UUV 12 detects its surroundings by means of one or more sensors arranged on its board. In this way, the UUV 12 generates sensor data of the area surrounding the UUV 12, hereinafter referred to as UUV reconnaissance data.

After the process in the UUV reconnaissance process block 88 has been completed, a branch 90 leads to a return to the torpedo reconnaissance process block 66. The process according to the invention is ended as described above.

Fig. 5 1 shows a reconnaissance area 100 and a section of a trajectory 102 of the torpedo-shaped underwater vehicle 10, the trajectory 102 being identified as vertical lines. Orthogonal to the lines of the trajectory 102 further horizontal lines are located. The vertical and horizontal lines together form a grid representing, based on the density of the lines, a coarse resolution 104 of the sensors of the torpedo-shaped underwater vehicle 10. In contrast to the coarse resolution 104, the finer grid of a fine resolution 106 indicates a fine resolution of the sensors of the UUVs 12. The finer resolution of the sensors of the UUV 12 is characterized in that the UUV 12 has sensors which differ at least in one sensor from the sensors arranged on board the torpedo-shaped underwater vehicle 10.

Further shows Fig. 5 a UUV deployment location 108 where the torpedo-shaped underwater vehicle 10 suspends one or more UUVs 12. Due to the smaller design of the UUV 12 relatively to the torpedo-shaped underwater vehicle 10, the range under water is usually also lower. An action radius 110 of the UUVs 12 identifies a subarea of the reconnaissance area. In this way, the reconnaissance area 100 is detected in a differentiated manner, ie, the finer resolution is used only with respect to a certain area, an underwater vehicle having other sensors, namely the UUV 12, being simultaneously transported along with it. According to the invention, the method for reconnaissance of an area under water is faster to carry out than with two successively to be launched sensors having underwater vehicles.

Fig. 6 shows a scenario to explain the system according to the invention for the elucidation of an underwater area. The inventive system includes the torpedo-shaped underwater vehicle 10 and the UUV 12. The system is in accordance with Fig. 6 Underwater 120. In this embodiment, the target object is a mine 122 which is mounted on a body of water 124 by means of an anchor 126. Furthermore, the mine 122 consists of an explosive charge 128, which is connected by a chain 130 to the armature 126. The torpedo-shaped underwater vehicle 10 has already exposed the UUV 12 to the water 120 in this scenario. The UUV reconnaissance data of the sensors 24 of the UUV 12 can be transmitted via the communication link 40 and by means of the UUV control converter 38 via the communication link 34 to the arithmetic unit of the control center 32. The sensors 24 of the UUV 12 in this scenario include, for example, a camera system according to Fig. 6 is characterized by a light cone 132. The control of the UUV 12 to the mine 122 is provided by means of the communication link 34 and 40 as well as by the UUV control converter 38. In this way, both the travel of the UUV 12 and the sensors 24 and / or the tools / tools 26 of the UUVs can be controlled or assessed. Advantageously, data can be received by the UUV 12 by means of the communication link 34 and 40 and by means of the UUV control converter 38 and / or can be sent to the UUV 12.

Fig. 7 shows an embodiment of the inventive method for performing actions on objects under water using a flowchart. The method starts at a start block 140, from which a branch 142 leads to a destination transmission block 144.

In the target transmission block 144, the subarea for reconnaissance and / or reconnaissance objectives is transferable to the UUV 12. In this way, the inventive method is autonomous, ie without connection to the arithmetic unit of the control center 36 and without connection to the UUV control converter 38, feasible. After transmitting the sub-region and / or the reconnaissance target, a branch 146 leads to a UUV suspension block 148.

In the UUV suspension block 148, the turret-shaped underwater vehicle 10 reduces its speed, in particular to zero, and by means of the opening device 28 releases the transported UUV 12 into the water surrounding the torpedo-shaped underwater vehicle. After suspending the UUV 12 into the UUV suspending block 148, a branch 150 leads to a UUV trip block 152.

In the UUV drive block 152, the UUV passes through the previously transmitted reconnaissance area and generates by means of one or more sensors arranged on board the UUV sensor data of the area surrounding the UUV to be cleared up. During generation of the UUV reconnaissance data, the UUV trip block 152 passes the process via a branch 154 to a UUV evaluation block 156.

The UUV reconnaissance data can be evaluated in the UUV evaluation block. After evaluating the UUV reconnaissance data in the UUV evaluation block 156, the method passes via a branch 158 to an action decision block 160. In the action decision block, it is checked whether further actions are to be taken to process one or more objects in the reconnaissance area. If there is a negative score, a branch is made via a branch 162 to a UUV salvage block 164.

In the UUV salvage block 164, the UUV 12 returns to the UUV salvage location and is salvageable by a torpedo-shaped underwater vehicle 10. After recovery in UUV salvage block 164, a branch 166 leads to an end block 168 which marks the end of the process.

However, if there is a positive rating of the UUV reconnaissance data, the branch in the action decision block 160 branches to a UUV action block 174 via a branch 170. In the UUV action block 174, one or more actions are taken to manipulate objects scored as conspicuous, e.g. Breaking a chain of a mine, blasting a mine, moving underwater buoys or taking soil samples. After the actions have been performed in the UUV action block 174, if the UUV 12 still exists and / or is still controllable, the UUV salvage block 164 is taken over a branch 176. According to the above description, the UUV salvage block 164 is the UUV 12 recovered. The process eventually passes via branch 166 to end block 168, which marks the end of this process.

This embodiment of the method according to the invention Fig. 7 corresponds, for example, to the UUV reconnaissance procedure block 88 according to FIG Fig. 4 ,

Fig. 8 shows another scenario to explain the method for clearing an area under water. In this scenario, the UUV 12 has no communication link to the torpedo-shaped underwater vehicle 10 and therefore acts autonomously in a previously defined reconnaissance area with established reconnaissance targets. The previously defined reconnaissance area and the previously defined destinations can be transferred to the UUV 12 prior to insertion into the transport space of the torpedo-shaped underwater vehicle 10 or upon exposure of the UUV 12 from the torpedo-shaped underwater vehicle 10. The autonomously operating UUV 12 is referred to below as AUV ("Autonomous Underwater Vehicle"). While the AUV passes through a trajectory 200 autonomously, its UUV reconnaissance data can be generated and stored. The autonomously completed trajectory 200 is thus not subject to any restriction imposed by physical communication lines. For example. By means of the AUV, an object can be orbited multiple times, but without the object being wrapped with a physical message line, as in a UUV having a physical communication line. The UUV reconnaissance data of the AUV can, due to the autonomously completed movement path 200, comprise a plurality of objects of interest, for example the mine 122 and a mine 202 buried in the water brine 124.

In a further specific embodiment according to Fig. 8 is a UUV deployment location 204 at which the UUV 12 can be deployed out of the torpedo-shaped underwater vehicle 10, outside a portion of a UUV recovery location 206 where the UUV 12 is salable by the same or another torpedo-shaped underwater vehicle 208. The salvage is definable by a predetermined time and by the UUV salvage location 206 prior to suspending the UUV 12. In this way, the torpedo-shaped underwater vehicle 10 can continue the torpedo reconnaissance process while the UUV 12 simultaneously performs the UUV reconnaissance procedure in parallel. Advantageously, the UUV 12 can be retrieved by means of the torpedo-shaped underwater vehicle 10 which has exposed the UUV 12 or by another torpedo-shaped underwater vehicle 208 at the UUV rescue location 206.

Preferably, an exemplary embodiment of the method according to the invention provides the torpedo-shaped underwater vehicle 10, which can expose and / or recover one or more UUVs 12 in parallel or sequentially. Parallel deployment / recovery means that the torpedo-shaped underwater vehicle 10 may deploy both one or more UUVs 12 at the UUV deployment location 204 at the same time or may reside at the UUV recovery location 206. The sequential suspend / salvage means a time-spaced sequence of suspensions and / or salvage operations, where the UUV suspend locations 204 and / or UUV salvage locations 206 may each be different from each other.

In a further embodiment according to Fig. 8 the UUV reconnaissance data can be transmitted to the UUV control converter 38 of a torpedo-shaped underwater vehicle 208 if a UUV 210 is located in a receiving and / or transmitting area of the UUV control converter 38 of the torpedo-shaped underwater vehicle 208. A communication link 212 is temporary, ie exclusively for the time of transmission of the UUV reconnaissance data, by means of electromagnetic waves or hydroacoustic waves produced. The communication link 212 can be produced by the torpedo-shaped underwater vehicle 208 and / or the UUV 210, in particular after recovery of the UUV 210. In this way, by means of the UUV control converter 38 and a communication link 214 between the torpedo-shaped underwater vehicle 208 with the arithmetic unit of the control center 36 can be transmitted or evaluated. Advantageously, the torpedo reconnaissance method by means of the torpedo-shaped underwater vehicle 208 can be continued.

Fig. 9 shows a further scenario for explaining the method according to the invention for reconnaissance of a reconnaissance area under water. A watercraft 220 has a transfer device 222 for transporting the torpedo-shaped underwater vehicle 10. Furthermore, the watercraft 220 has a recovery device 224 for recovering the torpedo-shaped underwater vehicle 10. For the reconnaissance of the reconnaissance area 100, the torpedo-shaped underwater vehicle 10 can be brought into the water by the watercraft 220. Furthermore, the torpedo-shaped underwater vehicle 10 on its transport space 22 on the UUV 12. The torpedo-shaped underwater vehicle 10 traverses the reconnaissance area 100 along the trajectory 102 and meanwhile generates the torpedo reconnaissance data. Analogous to Fig. 5 For example, the transported UUV 12 can be exposed to the UUV exposure site 108 into the water. The torpedo-shaped underwater vehicle 10 waits in the area of the UUV suspension location 108 to subsequently retrieve the UUV 12 or alternatively continues along the movement path 102. After the reconnaissance area 100 has been passed through and torpedo reconnaissance data has been generated at the same time, the salvage of the torpedo-shaped underwater vehicle 10 takes place by means of the salvage facility 224. In this way, the torpedo-shaped underwater vehicle 10 can be used by the vessel 220 having multiple transports using the retrieval device.

This embodiment of the method according to the invention is not limited to the transportation and recovery by means of only one vessel and salvage vessel, but rather reveals any salvage and / or suspension by means of a salvage device and / or on-board boarding device on one or more vessels.

Fig. 10 shows an embodiment of the inventive method for reconnaissance of an underwater area by means of a torpedo-shaped underwater vehicle 10. The method starts in a start block 230, from which a branch 232 leads to a torpedo drive block 234.

In the torpedo drive block 234, a reconnaissance target and / or a reconnaissance area can be defined. Further, the torpedo-shaped underwater vehicle 10 passes through the reconnaissance area. The torpedo-shaped underwater vehicle 10 travels by means of the drive section 18, which receives control commands for driving through the reconnaissance area 100 from the arithmetic unit 32 of the torpedo-shaped underwater vehicle 10. During the passage of the reconnaissance area 100 in the torpedo drive block 234, a branch 236 leads to a torpedo evaluation block 238. In the torpedo evaluation block 238, the torpedo reconnaissance data is evaluated. The evaluations in the torpedo evaluation block 238 pass via a branch 240 to a torpedo interrupt block 242.

In the torpedo interruption block 242, it is checked whether the UUV 12 carried in the underwater towing vehicle 10 is to be discharged into the water due to the evaluation. If this is not the case, a branch via a branch 244 leads to the torpedo drive block 234. Therefore, the method is not interrupted, but continued.

However, if the UUV 12 is to be exposed from the turret-shaped underwater vehicle 10 into the water, the branch of the torpedo interrupt block 242 via a branch 246 leads to a torpedo reconnaissance stop block 248.

In the torpedo reconnaissance stop block 248, the cruising speed of the torpedo-shaped submersible for suspending and / or recovering the UUV 12 is limited or the ride of the torpedo-shaped submersible 10 is stopped. After recovery and / or suspension of the UUV 12 in the torpedo reconnaissance stop block 248, a branch 250 is followed by an end block 252 which marks the end of this process.

This embodiment of the method according to the invention Fig. 10 corresponds, for example, to the torpedo reconnaissance process block 66 of the method according to the invention Fig. 4 ,

Fig. 11 shows another scenario to explain the elucidation of an area under water by means of the system according to the invention in the area of a coastal area. The vessel 220 comprises a torpedo transfer device, in particular a torpedo tube 222, up. From the torpedo tube 222 leads the communication link 34 to the torpedo-shaped underwater vehicle 10. The torpedo-shaped underwater vehicle 10 in turn has the communication link 40 to the UUV 12. The UUV 12 is located in the area of the mine 122, which is arranged in the area of the water brine 124. Further, the water 120 is logically divided into two sections by means of a vertical dashed line. On the one hand, a section of sufficient depth, which is suitable for passing through the vessel 220, hereinafter referred to as the permitted section 260. On the other hand, a section that is not passable by the watercraft, hereinafter referred to as forbidden section 262. According to Fig. 11 the mine 122 is located in the forbidden section 262. By means of the spent from the vessel 220 torpedo-shaped underwater vehicle 10 and exposed from this UUV 12, the mine 122 is treatable under water, in particular explosive. Both the torpedo-shaped underwater vehicle 10 and the watercraft 220 are advantageously positionable outside an explosive-force acting area. Advantageously, the reconnaissance by means of the torpedo-shaped underwater vehicle 10 subsequently, ie after demolition of the mine 122 by means of the UUVs 12, can be continued.

Claims (14)

1. Method for reconnoitring a region under water by means of an underwater vehicle (10), which travels through a reconnaissance region (100) under water and at the same time detects the surroundings of the underwater vehicle (10) by means of one or more sensors (16) arranged on board the underwater vehicle (10) and generates sensor data of the region to be reconnoitred that surrounds the underwater vehicle (10), the underwater vehicle (10) transporting one or more unmanned underwater vehicles, designated UUVs (12) below, at least one UUV (12) being released from the underwater vehicle (10) which generates sensor data of the reconnaissance region (100) surrounding the UUV (12) by means of one or more sensors (24) arranged on board the UUV (12),
   characterized in that
   the underwater vehicle (10) is torpedo-shaped and is started by means of a launch platform for torpedoes and
   the underwater vehicle (10) transports the UUV or the UUVs (12) in a transport chamber (22) of the underwater vehicle (10).
2. Method according to Claim 1, characterized in that the sensor data of the reconnaissance region (100) surrounding the torpedo-shaped underwater vehicle (10), designated torpedo reconnaissance data below, is assessed by means of a computing unit, in particular a remote computing unit of a control centre (36), and, depending on a positive assessment, at least one UUV (12) is released from the torpedo-shaped underwater vehicle (10).
3. Method according to either of Claims 1 and 2, characterized in that the sensor data of the reconnaissance region (100) surrounding the UUV (12), designated UUV reconnaissance data below, is transmitted to the torpedo-shaped underwater vehicle (10), and the torpedo-shaped underwater vehicle (10) transmits the UUV reconnaissance data to the computing unit of the control centre (36) and/or the UUV (12) receives data from the torpedo-shaped underwater vehicle (10) which has information and/or commands to control the UUVs (12), wherein in particular the data of the torpedo-shaped underwater vehicle (10) for the UUV (12) has previously been received from the remote computing unit of the control centre (36).
4. Method according to one of the preceding claims, characterized in that the UUV reconnaissance data is assessed by means of the computing unit of the control centre (36) or a further computing unit, in particular a computing unit (32) on board the torpedo-shaped underwater vehicle (10), and if there is a positive assessment, the UUV (12) carries out actions to process one or more objects located in the reconnaissance region (100), such as, for example, severing chains (130), exploding mines (122, 202), moving underwater buoys and/or taking ground samples (124).
5. Method according to one of the preceding claims, characterized in that the UUV (12) travels autonomously through the reconnaissance region (100), in particular a sub-region (110) of the reconnaissance region (100), and stores the UUV reconnaissance data for time-shifted transmission.
6. Method according to one of the preceding claims, characterized in that the speed of travel of the torpedo-shaped underwater vehicle (10) is limited in order to release and/or recover the UUV (12), or the travel of the torpedo-shaped underwater vehicle (10) is stopped.
7. Method according to one of the preceding claims, characterized in that after the reconnaissance region (100) has been explored, in which at the same time the surroundings of the torpedo-shaped underwater vehicle (10) have been detected by means of one or more sensors (16) arranged on board the torpedo-shaped underwater vehicle (10) and torpedo reconnaissance data has been generated, designated a torpedo reconnaissance process below, and after the torpedo-shaped underwater vehicle (10) has transported one or more UUVs (12) and at least one UUV (12) which has generated UUV reconnaissance data by means of one or more sensors (24) arranged on board the UUV has been released from the torpedo-shaped underwater vehicle (10), designated a UUV reconnaissance process below, the torpedo-shaped underwater vehicle (10) is recovered and a torpedo reconnaissance process is again carried out with the same torpedo-shaped underwater vehicle (10), wherein the UUV reconnaissance process is possibly additionally carried out during or after the torpedo reconnaissance process.
8. System for reconnoitring a region under water, comprising an underwater vehicle (10) which has a drive device (18), a power supply device (14) and one or more sensors (16), which are formed in such a way as to travel around a reconnaissance region (100) under water, at the same time to detect the surroundings of the underwater vehicle (10) by means of the sensors (16) and to generate sensor data of the reconnaissance region (100) surrounding the underwater vehicle (10), in particular for carrying out a method according to one of Claims 1 to 7, the system comprising both the underwater vehicle (10) and also one or more unmanned underwater vehicles, designated UUVs (12) below, the underwater vehicle (10) being designed to transport the UUV or UUVs (12) and the UUVs (12) having one or more sensors (24) which are formed in such a way as to generate sensor data of the reconnaissance region (100) surrounding the UUV (12),
   characterized in that
   the underwater vehicle (10) is torpedo-shaped and can be started by means of a launch platform for torpedoes, and
   the underwater vehicle (10) has a transport chamber (22), which is formed in such a way as to transport the UUV or UUVs (12).
9. System according to Claim 8, characterized in that the torpedo-shaped underwater vehicle (10) has a UUV control converter (38), which is formed in such a way as to produce a communication link (34) between the UUV (12) and a computing unit connected to the torpedo-shaped underwater vehicle (10), in particular a remote computing unit of a control centre (36).
10. System according to either of Claims 8 and 9, characterized in that the torpedo-shaped underwater vehicle (10) is formed in sections and has a transport section (20) in which the transport chamber (22) is arranged.
11. System according to one of Claims 8 to 10, characterized in that the UUV (12) has the sensors (24) which, however, differ in at least one sensor from the sensors (16) arranged on board the torpedo-shaped underwater vehicle (10).
12. System according to one of Claims 8 to 11, characterized by an opening apparatus (28) in the region of the transport chamber (22) of the torpedo-shaped underwater vehicle (10), which apparatus is formed in such a way as to release the transported UUV (12) and/or to recover a released UUV (12).
13. System according to one of Claims 8 to 12, characterized in that the UUV (12) and/or the torpedo-shaped underwater vehicle (10) has/have a transport apparatus (30), which is formed in such a way as to transport one or more UUVs (12) secured against damage in the transport chamber (22) of the torpedo-shaped underwater vehicle (10) .
14. System according to one of Claims 8 to 13, characterized in that the torpedo-shaped underwater vehicle (10) has one or more control cells, in particular trim tanks and/or ballast tanks, which are formed in such a way as to balance the location and/or the buoyancy or downforce of the torpedo-shaped underwater vehicle (10) under water when the travel of the torpedo-shaped underwater vehicle (10) is stopped.

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