KR20110008668A - Method and apparatus for removing mines in the sea - Google Patents

Abstract

PURPOSE: A method and an apparatus for removing mines in the sea are provided to quickly and accurately remove target mines by inserting a plurality of mine sweeping devices from a distance to approach the mines through self control and explode near the mines. CONSTITUTION: A method for removing mines in the sea is as follows. An unmanned submarine for mine detection searches for mines and composes a distribution map(S10). The mine area is swept by a plurality of unmanned submarines for mine sweeping(S30). Information exchange with the unmanned submarine for mine detection is performed through a tactic terminal and mine sweeping is instructed to the unmanned submarines for mine sweeping.

Description

Method and Apparatus for Removing Underwater Mine {Method and Apparatus for Removing Mines in the Sea}

The present invention relates to a method and apparatus for removing underwater mines, and in particular, to implement a combat system capable of removing mines placed underwater using two autonomous unmanned submersibles having mine detection, mapping, and mine removal functions. The present invention relates to an underwater mine removal method and apparatus.

Mines are bombs placed in or on water to destroy enemy ships. Depending on the sensing device, there are acoustic mines, magnetic mines, and hydraulic mines.

In the conventional mine detection method, a manned work vessel in charge of reconnaissance mission is equipped with magnetic / acoustic exploration equipment and uses a method of directly exploring a sea area where a mine is expected to exist. Manned ships are also targets of mines, which can result in casualties, and submerged exploration can expose operations to enemies. However, when mines are usually laid, more than 4,000 are put into place at once, and a considerable amount of mines remain even after the bombing is carried out by bombing (掃 海: removing dangerous objects such as mines placed on the sea for safe navigation). It often leads to delays in the schedule.

The present invention has been devised in the background as described above, to accurately and accurately identify the location of the mine, using a large number of fire-fighting submersible submarines to detect the mine quickly and quickly to detect the mine, maps of the mine area The purpose of the present invention is to provide a method and apparatus for removing underwater mines to destroy mines through self-destruction.

According to an aspect of the present invention, the present invention comprises the steps of detecting a mine by an unmanned submarine for mine detection to create a distribution map; And

And extinguishing the mine area using a plurality of unmanned unmanned submersibles.

According to another feature of the present invention, the present invention is one or a plurality of mine detection unmanned submersible for detecting and transmitting the mine distribution and type of operation area within a short time;

A tactical terminal that establishes a fire fighting operation based on the mine position information provided from the mine detection unmanned submersible, and transmits the established operation information; And

Underwater mine removal apparatus comprising a plurality of unmanned anti-submarine submersible that is guided to the position of the mine based on the mine information received from the above-described terminal and then performs fire extinguishing by means of self-destruction. .

Shortening time is the key task for the operation, and should be completed in a short time of up to two days. When using a remotely operated vehicle (ROV) operated by wired control as in the conventional method, the difficulty of the operation is very high and the mine hunt ship (MHS) must be approached to the vicinity of the mines, which puts the operator at risk. Many mines had to be dismantled remotely by using image information provided by ROV. However, according to the present invention, a large number of fire-fighting equipment can be added from a long distance at a time to approach mines through autonomous control, and the target mines can be quickly and surely removed by self-detonating at near-field mines.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

Figure 1 shows the configuration of the apparatus of the present invention, which is composed of a mine detection unmanned submersible (MCM: 100), minesweeper unmanned submersible 300 and the tactical terminal 200.

The mine countermeasure unmanned submersible (Mine Countermeasure (MCM)) 100 is one or plural and recognizes the mine distribution and type of operation area within a short time and transmits to the tactical terminal 200. MCM 100 is preferably implemented as an Autonomous Underwater Vehicle (AUV) equipped with magnetic, heat source, chemical, optical and underwater acoustic sensors for mine detection, but in some cases, unmanned watercraft equipped with similar equipment It can also be configured as (Unmanned Surface Vehicle, USV). The mine disposal vehicle (MDV) 300 is guided to the position of the mine based on mine information (location, type) received from the tactical command unit (TCU); Carry out the fire extinguishing work. The tactical terminal 200 establishes fire fighting operations based on the mine position information provided from the unmanned submarine 100 for detection, and inputs the established operation information into the mine clearing unmanned submersible 300 again.

2 shows a flowchart of the method of the invention.

The steps of the method of the present invention first include a mine detection and distribution map by the mine detection unmanned submersible 100 (S10). Subsequent to the preparation of the mine detection and distribution map, information exchange with the mine detection unmanned submersible through the tactical terminal 200 and instructing a mine-area-dismissal mission to a plurality of minesweeping unmanned submersibles 300 are performed (S20). Next, the mine mine area is fired through the unmanned mine submarine 300 for minesweeping (S30).

The detonation method of the mine in step S30 is magnetic, which is a method of responding to the magnetic field of the hull, acoustic, which is a method of responding to specific acoustic characteristics emitted by the hull, and a type of contact, which is a method of reacting when the hull directly touches the detonator. For example, there is a combination of pressure, which is a method of reacting to the pressure generated by disturbing the surrounding fluid field when the hull moves, and a combination of two or more of the above.

However, the conventional mine removal method was carried out in such a way that the manned small mine boat towed the mine detonation derivatives to induce the detonation of the mine after the carpet bombing of the area where the mine was installed. However, in the case of a combined mine, it is not easy to remove it using only derivatives.In recent years, a remotely operated vehicle (ROV) for MDV mounted on a small minesweeper detects the mines and removes the mines using an anti-ice equipment mounted on the ROV. Although the method has been developed, this method has a disadvantage in that it is more difficult and time consuming to remove individual mines.

The present invention solves the problems of the prior art by a simple step of detecting a mine, instructing a fire to the detected mine, and fired the mine area. Through this, the mine area to be fired can be fired faster and more secretly than the conventional method and can be fired at a time.

3 is a diagram illustrating in detail the method flow diagram of the present invention in steps S10 and S30 of FIG.

Hereinafter, the flow of the method of the present invention will be described in detail with reference to FIGS. 1 and 3. In step S10 it is preferable to put a plurality of MCM (100) to grasp the position of the mine in the operation sea area to quickly grasp the layout of the overall mine. The MCM 100 uses the dead reckoning system as the main navigation device, but removes the accumulated error that may occur during dead reckoning by intermittently rising to the surface and corrected by GPS. The MCM 100 first checks an object estimated as a mine by using an underwater acoustic sensor, approaches the object, confirms that the estimated object is a mine by using magnetic, heat sources, chemical and optical sensors, etc. and determines the type of mine. do. It also stores the location of mines in conjunction with internal navigation information.

The MCM 100 prepares a mine distribution map for the sea area based on the locations of the mines collected through the above process (S10). Subsequently, the mine area digestion process of step S30 described above is performed.

In this process, the position information of the individual mines is input to the MDV 300 based on the mine distribution map obtained in step S10. At this time, the mine distribution map for the operation area and the input of the position information of the individual mines are performed through the TCU 200. The TCU 200 is notified of whether the operation can be performed from the MDV 300 and inputs the position of the target mine to be a target in the MDV 300 which has been notified that the operation can be performed.

MDV (300) received the position of the target mine from the TCU (200) after the sailing toward the target mine after the acquisition to remove the mine by exploding in the vicinity of the target mine, through this process search process of the mine using the MCM (100) And the two-step process of extinguishing mines through the MDV 300 is completed. In addition, it is possible to repeat the process of mine detection and distribution mapping to add the final confirmation of mine disappearance in the sea area.

Specifically, the battery module is mounted on the MDV 300 separated from the moving box (S31). It is common to mount a battery of an unmanned submersible inside a pressure hull of an unmanned submersible. However, in the present invention, the battery module is configured as a separate module outside the pressure hull. Can be eliminated. By mounting such a battery, power is applied to internal devices such as the MDV 300 explosive (described later) and a mounted sensor. Next, the state of whether the artificial intelligence of the MDV 300 can perform the function of the MDV is checked (S32). It is determined whether the mission is possible and transmits the information about this to the TCU 200 through a remote communication module such as RF communication (S33). According to FIG. 4, which shows the optimal path defined by the path guidance method, the TCU 200 may determine an optimal horizontal relative distance L according to the coordinates of the target mine and the depth D of the target mine, and thus the optimal guidance path. The information is transmitted to the MDV 300 capable of mission through the telecommunication module.

Figure 4 shows the definition and derivation process for the D and L. In the drawing, D is a depth of mine and L is a horizontal distance from the MDV to the mine, and uses the optimal value according to each D according to the dynamic characteristics of the MDV (300). At this time, it is preferable to determine the optimum value of D and the hydrodynamic optimum path based on the D value after the test in advance before the mass production of the MDV 300, and follow it in actual operation.

The MDV 300 receives position information from the GPS in the process of obtaining (S34) and performs surface navigation toward the target mine (S35). In this case, the fuselage of the MDV 300 is completely locked under the water surface, and it is preferable that the GPS and the telecommunication antenna module are designed to have a slight positive buoyancy (a buoyancy larger than the weight) out of the water. This is to prevent the GPS signal from receiving below the surface and to avoid intermittent waves covering the antenna. Therefore, preferably, the GPS antenna is installed at a higher position than the fuselage of the MDV 300. During surface navigation using the GPS, the MDV 300 performs an in-flight alignment process to complete the initial attitude and parameter setting of the inertial navigation system. On the other hand, MDV 300 performs the operation of correcting the magnetic declination (deviation of magnetic north pole and true north) of the magnetic compass using the nose angle information provided from the GPS while performing the surface navigation. When the MDV 300 sleeps straight toward the target mine, and reaches the relative horizontal distance L with the target mine received from the TCU 200 in advance, the submarine starts the submerge along the optimal path received from the TCU 200 ( S36) A path following control for following a previously input path is performed. Since the GPS information cannot be received in this process, the MDV 300 checks the target by approaching the target mine based on the estimated navigation position information obtained based on the information of the inertial measurement device, the depth meter, and the magnetic compass (S37). At the position received from the TCU 200, the MDV 300 operates an obstacle detection sonar (to be described later) and determines that there is an obstacle in front of the TCU 200 as a signal to the TCU 200 (S38), and the MDV (300). ) The target mine is removed through the process of self-detonation by operating the internal detonator (S39 ').

If the target mines cannot be confirmed at a position received from the TCU 200 in advance, it is determined that the mine removal mission fails (S39).

5 shows a procedure flow diagram in the event of a mission failure.

First MDV (300) rises above the water surface (S39a). In addition, the TCU 200 is connected to the TCU 200 using a remote communication such as RF communication to notify a job failure and receive a command regarding a subsequent procedure (S39b). Since the MDV 300 may receive a GPS signal after injured on the surface of the water, after moving to the first gathering point designated by the TCU 200 with the help of a navigation system through GPS (S39c), the detonator (or explosive charge). Module) to remove the risk of explosives mounted on the MDV 300 (S39d). Next, the process moves to the second gathering point (S39e) and waits for the recovery of the MDV 300.

FIG. 6A shows a preferred embodiment in 3D representation of the MDV of the present invention, and FIG. 6B shows a preferred embodiment in 2D representation of the MDV of the present invention.

6A and 6B above, the obstacle detection sonar 300-01, the explosive charge 300-02, the depth gauge 300-03, the magnetic compass 300-04, the computer 300-05 , Inertial measurement device (300-06), propeller motor (300-07), rudder motor (300-08), GPS antenna (300-09), telecommunication antenna (300-10), hinge (300-11), Battery 300-12, rudders 300-13, and propellers 300-14.

As described above, the obstacle detecting sonar 300-01 is a sonar for detecting an obstacle, the explosive 300-02 is an explosive for removing a mine, and the depth meter 300-03 measures the depth of the mine. Magnetic compass (300-04) is a device for measuring the orientation of the magnetic radiation from the mine, computer (300-05) is for performing artificial intelligence, inertial measurement device (300-06) MDV It is an apparatus for measuring the inertia of 300, and the propeller motors 300-07 are motors which drive the propellers 300-13 which drive MDV300. On the other hand, the rudder motor 300-08 is a motor for driving the rudder rudder of the MDV 300, the GPS antenna 300-09 is an antenna for receiving signals from the GPS, and the telecommunication antenna 300-10. Is an antenna for receiving a telecommunication signal such as an RF signal, the hinge 300-11 is an antenna folding structure, the battery 300-12 is a power source of the MDV 300, and the rudder 300-13 is an MDV. The rudder to orient the 300, the propeller 300-14 is a device for pushing the MDV (300).

Next, the MDV 300 will be described in more detail below.

The GPS antenna 300-09 of the MDV 300 is configured to rise above the surface of the water as much as possible to avoid disconnection of the signal due to the influence of the blue. For this purpose, as shown in FIGS. 6A and 6B, the GPS antenna 300-09 is preferably attached to the end of the telecommunication antenna 300-10. In this case, it is preferable that the telecommunication antennas 300-09 are made of a flexible material that can be configured to reduce the possibility of damage due to collision with other objects. In addition, since the telecommunication antenna 300-10 may be damaged during the movement, the telecommunication antenna 300-10 may be folded in the longitudinal direction of the hull during the movement, and then may be unfolded as shown in FIGS. 6A and 6B only when the MDV 300 is operated. It is desirable to add an antenna collapsible hinge structure 300-11 so that it can. In addition, since the GPS and RF communication is impossible when the MDV 300 submerges underwater, in this case, it is preferable to operate the antenna with the antenna on top again to reduce the hydrodynamic resistance.

 The navigation sensor of the MDV 300 for performing the quenching operation basically consists of a GPS 300-09, an inertial measurement device 300-06, a magnetic compass 300-04, and a depth gauge 300-03. It may be desirable to, and may additionally comprise a hydrometer such as a speedometer and ultra short-baseline (USBL). Since the inertial measurement device 300-06 is composed of three-axis accelerometers and three-axis gyros, it is preferable to be located at the center of gravity of the fuselage. Otherwise, it is necessary to effectively compensate for the lever-arm effect that occurs because the inertial measurement device is out of the center of gravity, but it is desirable to avoid such a configuration, since it is not easy to accurately compensate for this effect.

In order to avoid the effects of magnetic field disturbance and noise caused by motor rotation of the fuselage rear, the magnetic compass 300-04 is preferably located in front of the pressure vessel, and the obstacle detecting sonar 300-1 is preferably mounted on the bow. The inside of the pressure hull must include a computer (300-05) for performing artificial intelligence, it is preferable that all devices are designed so that the impact that occurs during movement or acquisition may not be damaged. The depth meter 300-3 is preferably installed outside the pressure-resistant container and configured to communicate with the pressure-resistant container through the underwater connector. The explosives 300-2 are preferably installed outside the pressure-resistant container so that the explosive force for removing the mines does not decrease.

In order to perform the above-described extinguishing work procedure, explosives are preferably fastened to a structure that can be detached from the MDV 300 automatically. The battery 300-12 is preferably configured for supplying power to the internal pressure vessel and the detonator by connecting through the underwater connector from the outside of the MDV 300. Of course, the waterproof and pressure-resistant treatment of equipment mounted outside the pressure vessel should be designed to satisfy basically. The propulsion device of the MDV 300 may be configured as a water-proof waterproof motor, but in terms of cost reduction, the motors 300-07 may be disposed inside the pressure-resistant container. The propeller of the propulsion device is preferably installed on the outside of the duct so as not to be exposed to the outside and to install the propeller and rudder (300-13) inside the duct. The rudder 300-13 can be driven in various embodiments, but the rudder motor 300-08, which is a rudder steering server motor, is disposed inside the pressure hull as shown in FIGS. 6A and 6B, and penetrates the pressure vessel. It is also good to use a mechanism to make, it is also possible to arrange the servo motor subjected to the self-waterproof and withstand pressure treatment outside the pressure-resistant container to be able to operate the rudder 300-13 directly.

The task of cutting is to reduce the cutting time, which should be completed in a short time of up to two days. When using a remotely operated vehicle (ROV) operated by wire control as in the conventional method, the difficulty of the operation is very high and a mine hunting ship must approach the mines, which may put workers at risk. And since all mines had to be dismantled by hand, many hours were required for the work. However, according to the present invention, a large number of fire-fighting equipment can be added from a long distance at a time to approach mines through autonomous control, and the target mines can be quickly and surely removed by self-detonating at near-field mines.

Although the present invention has been described with reference to one embodiment, the present invention is not limited thereto, and various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the appended claims below. Such modifications and variations are intended to be interpreted as being within the scope of the present invention.

1 shows a configuration of the apparatus of the present invention.

2 shows a flowchart of the method of the invention.

3 is a diagram illustrating in detail the method flow diagram of the present invention of S10 and S30 of FIG.

Figure 4 shows the definition and derivation process for the D and L.

5 shows a procedure flow diagram in the event of a mission failure.

Figure 6a shows a preferred embodiment in 3D representation of the MDV of the present invention.

Figure 6b shows a preferred embodiment in 2D representation of the MDV of the present invention.

* Description of the symbols for the main parts of the drawings *

100: mine detection unmanned submersible 200: tactical terminal

300: Unmanned submarine 300-01: Obstacle detection sonar

300-02: Explosive 300-03: Depth Meter

300-04: Magnetic Compass 300-05: Computer

300-06: Inertial Measurement Unit 300-07: Propeller Motor

300-08: rudder motor 300-09: GPS antenna

300-10: telecommunication antenna 300-11: hinge

300-12: Battery 300-13: Rudder

300-14: Propeller

Claims (26)

Detecting a mine by an unmanned submarine for mine detection and creating a distribution map; And Underwater mine removal method comprising the step of extinguishing a mine area using a plurality of unmanned unmanned submersible. The method of claim 1, And exchanging information with the mine detection unmanned apparatus using a tactical terminal, and instructing an anti-marine unmanned submersible to dispose of a mine mine area. The method of claim 1, The mine detection unmanned submersible submarine mine submersible method characterized in that it consists of an autonomous unmanned submersible equipped with a magnetic, heat source, chemical, optical and underwater acoustic sensors. The method of claim 1, The mine unmanned submersible submarine uses a dead reckoning system as the main navigation device, and intermittently injured on the water surface to receive a GPS correction to remove the accumulated errors that can occur during dead reckoning. The method of claim 1, The unmanned submersible for detecting mines uses an underwater acoustic sensor to identify objects suspected to be mines, and accesses the objects to confirm that the estimated objects are mines through magnetic, heat sources, chemical and optical sensors, and to determine the types of mines. An underwater minesweeper method. The method of claim 2, The mine area step of dismantling is equipped with a battery module in an unmanned aerial submersible for self-inspection, self-check, and determine the access through the tactical terminal. A method of removing underwater mines, comprising the step of sailing and submerging. The method of claim 6, Subsequent to the submersion, the target confirmation, and the method of removing the underwater mines, characterized in that it comprises the step of operating the detonator in connection with the terminal. The method of claim 2, The tactical terminal transmits the optimal horizontal direction relative distance (L) and the corresponding guided route information according to the coordinates of the target mine and the depth (D) of the target mine to an unmanned unmanned submersible capable of mission through remote communication such as RF. Underwater mines removal method characterized in that. The method of claim 7, wherein The relative distance (L) is a method for removing underwater mines, characterized in that using the optimum value according to each depth (D) in accordance with the dynamic characteristics of the unmanned unmanned submersible. The method of claim 6, The submarine unmanned submersible is a submarine mine removal method characterized in that for performing the operation of correcting the magnetic declination of the magnetic compass using the nose angle information provided from the GPS during the surface navigation. The method of claim 7, wherein Underwater mine removal method, characterized in that the mission failure if the detection of the target mine is not detected. The method of claim 11, In case of failure, the underwater minesweeping method comprising the step of rising to the surface, connecting to the tactical terminal, and moving to the first gathering place. The method of claim 12, Removing the detonator following the movement to the first collection point, moving to the second collection point, and recovering the unmanned unmanned submersible. The method of claim 12, Remove the underwater mines after removing the danger of explosives mounted on an unmanned submersible submersible after moving to the first gathering point designated by the tactical terminal after the injury to the surface with the help of a navigation system through GPS. Way. A mine detection unmanned submersible which detects and transmits mine distribution and types in the operation area within a short time; A tactical terminal that establishes a fire fighting operation based on the mine position information provided from the mine detection unmanned submersible, and transmits the established operation information; And Underwater mine clearing apparatus comprising a plurality of unmanned anti-submarine submersible guided to the position of the mine on the basis of the mine information received from the above-described terminal and then performing fire extinguishing by means of self-destruction. The method of claim 15, The unmanned unmanned submersible is an underwater sonar that detects obstacles and performs obstacle detection sonar, explosives for minesweeping, depth gauge for measuring mine depth, magnetic compasses for measuring magnetic bearing radiated from mines, and artificial intelligence. Underwater mine removal device comprising a computer for. The method of claim 15, Inertial measurement device for measuring the inertia of unmanned aerial vehicles, propeller motors for driving propulsion propulsion for unmanned aerial vehicles, rudder motors for rudder rudder of unmanned aerial vehicles, GPS antennas for receiving signals from GPS, RF and And a telecommunication antenna for receiving the same telecommunication signal, wherein the telecommunication antenna folding hinge is further included. The method of claim 15, The underwater minesweeper device further comprises a battery which is a power source for an unmanned unmanned submersible, a rudder for directing the unmanned unmanned submersible, and a propulsion for pushing the unmanned unmanned submersible. The method of claim 17, The inertial measurement device is composed of a three-axis accelerometer and a three-axis angometer, underwater mines removal device, characterized in that located in the center of gravity of the unmanned aerial vehicle. The method of claim 16, And the magnetic compass is located at the front of the pressure vessel of the unmanned unmanned submersible and the obstacle detecting sonar is located at the bow of the unmanned unmanned submersible. 21. The method of claim 20, The explosives are installed outside the pressure vessel, underwater minesweeper device characterized in that. The method of claim 20 or 21, The explosives are underwater mine removal device, characterized in that having a structure that can be automatically separated from the unmanned unmanned submersible if necessary. The method of claim 18, The battery is connected to the submarine unmanned submersible submersible through the underwater connector to remove the underwater minesweeper, characterized in that to supply power to the internal pressure vessel and the detonator of the submarine unmanned submersible. The method of claim 17, The propeller motor is disposed within the pressure vessel of the unmanned aerial vehicle submersible submarine mine underwater device. The method of claim 18, Underwater mine clearing device characterized in that a propeller and a rudder are installed inside a duct of an unmanned aerial vehicle. The method of claim 18, An underwater minecraft removal device comprising a servo motor for rudder steering inside a pressure hull.

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