WO2012013171A1 - Procédé et système de déminage d'une zone sous-marine - Google Patents

Procédé et système de déminage d'une zone sous-marine Download PDF

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Publication number
WO2012013171A1
WO2012013171A1 PCT/DE2010/000905 DE2010000905W WO2012013171A1 WO 2012013171 A1 WO2012013171 A1 WO 2012013171A1 DE 2010000905 W DE2010000905 W DE 2010000905W WO 2012013171 A1 WO2012013171 A1 WO 2012013171A1
Authority
WO
WIPO (PCT)
Prior art keywords
torpedo
underwater vehicle
uuv
reconnaissance
shaped underwater
Prior art date
Application number
PCT/DE2010/000905
Other languages
German (de)
English (en)
Inventor
Ralf Bartholomäus
Original Assignee
Atlas Elektronik Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Atlas Elektronik Gmbh filed Critical Atlas Elektronik Gmbh
Priority to PCT/DE2010/000905 priority Critical patent/WO2012013171A1/fr
Priority to EP10750026.6A priority patent/EP2598396B1/fr
Publication of WO2012013171A1 publication Critical patent/WO2012013171A1/fr

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Classifications

    • 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
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines
    • 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
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • 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
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • 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
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • 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.
  • reconnaissance areas have been elucidated underwater by means of underwater sensors or underwater vehicles or by means of aircraft with submergible sensors.
  • the vehicles drive through the reconnaissance area and at the same time capture their surroundings by means of their sensors.
  • sensor data of the area surrounding the sensors are generated.
  • the generated sensor data are evaluated to clarify the reconnaissance area.
  • US 6,118,006 describes an underwater vehicle which is designed as an autonomously acting 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 controllable 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 Aufteilungsterrorism 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.
  • 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 a method for reconnaissance of an underwater area by means of a torpedo-shaped underwater vehicle which transports one or more unmanned underwater vehicles, hereinafter referred to as UUVs, and exposes at least one UUV from the torpedo-shaped underwater vehicle by means of one or more aboard sensors arranged UUV sensor data of the UUV surrounding, enlightening area generated.
  • UUVs unmanned underwater vehicles
  • the invention solves the problem by means of a system comprising both a torpedo-shaped underwater vehicle and one or more unmanned underwater vehicles, hereinafter referred to as UUVs, wherein the torpedo-shaped underwater vehicle has a transport space configured to transport one or more UUVs and wherein the UUVs include one or more sensors configured to generate sensor data of the area surrounding the UUV to be cleared.
  • UUVs unmanned underwater vehicles
  • 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.
  • 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 exposure 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.
  • 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.
  • the underwater vehicle has a torpedo-shaped outer shell.
  • the underwater vehicle by means of a launch platform, which is suitable for conventional torpedoes, in particular by means of a torpedo tube, startable.
  • the sensor data of the area of the torpedo-shaped underwater vehicle to be cleared are evaluated by means of a computing unit, in particular a remote computing unit of a control center.
  • a computing unit in particular a remote computing unit of a control center.
  • at least one UUV will be exposed from the torpedo-shaped underwater vehicle.
  • 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.
  • 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.
  • the UUV exposure location is thus determined dynamically.
  • 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.
  • 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.
  • the sensor data of the area surrounding the UUV, to be cleared up 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.
  • 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.
  • the UUV data can thus be evaluated before salvaging the UUV.
  • 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.
  • the UUV is controllable by means of the control center.
  • 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.
  • 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.
  • an object in the Enlightenment area is not only detectable, but also editable by actions.
  • 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.
  • a ride with an underwater vehicle having further tools is therefore unnecessary.
  • 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.
  • the exposed UUV is separated from the torpedo-shaped underwater serhus independent.
  • the arithmetic unit of the torpedo-shaped underwater vehicle and / or the arithmetic unit of the remote control center can be continued.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • UV-reconnaissance data in the region of the exposure location can be generated for the torpedo reconnaissance data U.
  • the torpedo-shaped underwater vehicle is recovered after the reconnaissance area has been traversed, at the same time by means of one or more arranged on board the torpedo-shaped underwater vehicle sensors, the environment of the torpedo-shaped underwater vehicle is detected and torpedo reconnaissance data are generated - hereinafter as Torpedo reconnaissance method - and after the torpedo-shaped underwater vehicle has transported one or more UUVs and at least one UUV has been exposed from the torpedo-shaped underwater vehicle, 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.
  • 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.
  • 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.
  • the torpedo-shaped underwater vehicle which is designed in sections, has one or more transport sections, in each of which a transport space is arranged.
  • 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.
  • the UUV has sensors which, however, differ at least in one sensor from the sensors arranged on board the torpedo-shaped underwater vehicle.
  • the sensors of the torpedo thus differ from those of the UUV.
  • the reconnaissance area is more differentiated, i. by means of other information and / or further details, informable.
  • 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.
  • the torpedo reconnaissance method differs from the UUV reconnaissance method in terms of the nature and / or resolution of the information of the environment.
  • 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 Direction has, for example, a flap with which the UUV is exposed or recovered in an open state.
  • 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.
  • the opening device of the torpedo-shaped underwater vehicle is designed so as to suspend the UUV only once.
  • the opening device on a detachable, in particular absprengbare, shell of the transport space.
  • the UUV is exposed by dissolving the transport space into the water.
  • the torpedo-shaped underwater vehicle thus has an incomplete casing. This is advantageous if the UUV promptly, i. without further preparation, should be exposed to water.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control cells have air which can be discharged or fed into or out of the control cells.
  • 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.
  • a position can be maintained in a controlled manner in order to deposit or recover the UUV.
  • Fig. 1 shows an embodiment of a system according to the invention
  • Fig. 2 shows another embodiment of the system according to the invention
  • FIG. 3 shows a further specific embodiment of the system according to the invention with a computing unit of a control center
  • Fig. 4 shows an embodiment of a method according to the invention for clearing a
  • FIG. 6 shows a scenario for explaining the control of an unmanned underwater vehicle of the system according to the invention
  • FIG. 7 shows a further embodiment of the method according to the invention for clearing up a reconnaissance area by means of the unmanned underwater vehicle
  • FIG. 8 shows a further scenario for explaining the reuse of a torpedo-shaped underwater vehicle of the system according to the invention.
  • Fig. 10 shows a further embodiment of the method according to the invention for exposing an unmanned underwater vehicle
  • Fig. 11 shows a specific embodiment of the method according to the invention 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.
  • 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 transport space according to the invention 22.
  • the transport space 22 has, according to FIG. 1, a transportable UUV 12.
  • 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.
  • the transport section 20 is disposed 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.
  • FIG. 2 illustrates an advantageous opening device 28 configured to transfer transported UUVs 12 (not shown) from the interior of the torpedo space 22 to the exterior of the torpedo-shaped submersible 10, i. 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.
  • the opening device 28 has a recovery arm for recovering suspended UUVs. In this way, exposed UUVs are recoverable.
  • FIG. 3 shows a further exemplary embodiment of the system according to the invention comprising the torpedo-shaped underwater vehicle 10 and the two UUVs 12.
  • the torpedo-shaped underwater vehicle 10 has two UUVs 12 inside its transport space 22.
  • 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.
  • the UUVs 12 are thus secured in the torpedo-shaped underwater vehicle 10 transportable.
  • the torpedo-shaped underwater vehicle 10 has 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.
  • 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 connected to a UUV control converter 38 as shown in FIG.
  • the UUV control converter 38 can be connected to the UUVs 12 by means of a communication link 40.
  • sensor data of the sensors 24 of the UUVs 12 can be transmitted to the arithmetic unit 32.
  • 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.
  • 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.
  • 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.
  • 4 shows an exemplary embodiment of a method according to the invention for clearing an underwater area by means of a flow chart.
  • the flowchart starts in a start block 50 from which branch 52 leads to an enlightenment definition block 54.
  • a reconnaissance area and / or an enlightenment destination object are defined for a reconnaissance process.
  • a torpedo start block 58 follows via a branch 56.
  • the torpedo-shaped underwater vehicle 10 with the UUVs 12 contained in its transport space 22 is brought into the water from a launch platform at a torpedo exposure location.
  • a branch 60 leads to a transit trip 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.
  • 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.
  • a branch 68 leads to a stop decision block 70.
  • 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, a branch 72 is followed by the torpedo salvage block 74.
  • the torpedo-shaped underwater vehicle 10 travels back to the torpedo exposure location or, alternatively, relocates to another location.
  • 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.
  • the UUV reconnaissance decision block 82 it is checked whether the sensor data of the enlightenment area surrounding the torpedo-shaped underwater vehicle 10, hereinafter referred to as torpedo reconnaissance data, has abnormalities.
  • the torpedo reconnaissance data will evaluate and result in a positive score if the target to be reconstructed 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.
  • U UV reconnaissance process block 88 branching to a U UV reconnaissance process block 88 is via a branch 86.
  • the UUV 12 carried with the torpedo submersible 10 is suspended 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 UUV 12 surrounding area to be cleared, hereinafter referred to as U UV reconnaissance data.
  • FIG. 5 shows a reconnaissance area 100 and a section of a movement path 102 of the torpedo-shaped underwater vehicle 10, wherein the movement path 102 are 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.
  • FIG. 5 shows 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 relative to the torpedo-shaped underwater vehicle 0, 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 for explaining the system according to the invention for the investigation of an area under water.
  • the system according to the invention comprises the torpedo-shaped underwater vehicle 10 and the UUV 12.
  • the system is shown in FIG. 6 under water 120.
  • the target object is a mine 122, which is mounted on a body of water 124 by means of an anchor 26.
  • the mine 122 consists of an explosive charge 128, which is connected by means of a chain 30 with 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 include, for example, a camera system, which is characterized by a light cone 132 according to FIG.
  • 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.
  • 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 exemplary embodiment of the method according to the invention for performing actions on objects under water by means of a flowchart.
  • the method starts at a start block 140, from which a branch 142 leads to a destination transmission block 144.
  • the subarea for reconnaissance and / or reconnaissance objectives is transferable to the UUV 12.
  • 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.
  • a branch 146 leads to a 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.
  • a branch 150 leads to a UUV trip 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.
  • the UUV ride block 152 passes the process via a branch 154 to a U UV 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.
  • UUV salvage block 164 the UUV 12 returns to the UUV salvage location and is salvageable by a torpedo-shaped underwater vehicle 10.
  • a branch 166 leads to an end block 168 which marks the end of the process.
  • the branch in the action decision block 160 branches to a UUV action block 174 via a branch 170.
  • 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.
  • 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 method ultimately passes via branch 66 to end block 168, which marks the end of this process.
  • FIG. 7 corresponds, for example, to the U UV-clearing process block 88 according to FIG. 4.
  • Fig. 8 shows another scenario for explaining the method of clearing an area under water.
  • the UUV 12 in this scenario has no communication with the torpedo-shaped underwater vehicle 0 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").
  • the AUV passes through a trajectory 200 autonomously, during 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.
  • 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 U UV clarification data of the AUV may include a plurality of objects of interest, for example the mine 122 and a mine 202 buried in the water brine 124.
  • a U UV exposure location 204 at which the UUV 12 can be deployed from the torpedo-shaped underwater vehicle 10 is outside a range of a UUV recovery location 206 in which the UUV 12 is the same or another torpedo-shaped one Underwater vehicle 208 is berbarbar.
  • the salvage is definable by a predetermined time and by the UUV salvage location 206 prior to suspending the UUV 12.
  • the torpedo-shaped underwater vehicle 10 can continue the torpedo reconnaissance process while the UUV 12 simultaneously performs the UUV reconnaissance procedure in parallel.
  • 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.
  • 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 suspend 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.
  • the UUV reconnaissance data can be transmitted to the U UV 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.
  • 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.
  • 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. Analogously to FIG. 5, the transported UUV 12 can be exposed to the UUV exposure location 108 in the water.
  • the torpedo-shaped underwater vehicle 10 waits in the area of the U UV exposure location 108 to subsequently recover 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 and recovery devices.
  • 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.
  • 10 shows an exemplary embodiment of the method according to the invention for clearing an area under water 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.
  • a reconnaissance target and / or a reconnaissance area can be defined. Furthermore, the torpedo-shaped underwater vehicle 0 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 00 from the arithmetic unit 32 of the torpedo-shaped underwater vehicle 10.
  • a branch 236 leads to a 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.
  • 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.
  • the branch of the torpedo interrupt block 242 via a branch 246 leads to a 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.
  • a branch 250 is followed by an end block 252 which marks the end of this process.
  • This exemplary embodiment of the method according to the invention according to FIG. 10 corresponds, for example, to the torpedo reconnaissance method block 66 of the method according to FIG. 4.
  • FIG. 11 shows a further scenario for explaining 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 2.
  • 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.
  • the mine 122 is disposed in the prohibited portion 262.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de déminage d'une zone sous-marine au moyen d'un véhicule submersible (10) en forme de torpille, qui traverse une zone à déminer (100) et qui détecte en même temps, au moyen d'un ou de plusieurs capteurs disposés à bord du véhicule submersible (10) en forme de torpille, l'environnement du véhicule submersible (10) en forme de torpille et produit des données de capteur de la zone à déminer (100) entourant le véhicule submersible (10) en forme de torpille. Tandis que le véhicule submersible (10) en forme de torpille traverse la zone à déminer (100), il transporte de plus un ou plusieurs véhicules submersibles sans équipage, appelés ci-après UUV (12). Les UUV transportés (12) sont mis à l'eau dans la zone à déminer (100) et produisent à leur tour des données de capteur de la zone à déminer entourant l'UUV (12) au moyen de capteurs (24) disposés à bord de l'UUV (12). L'invention concerne en outre un système comprenant un véhicule submersible (10) en forme de torpille présentant un espace de transport (22), et des véhicules submersibles sans équipage (12) pouvant être transportés dans l'espace de transport (22) du véhicule submersible (10) en forme de torpille.
PCT/DE2010/000905 2010-07-30 2010-07-30 Procédé et système de déminage d'une zone sous-marine WO2012013171A1 (fr)

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PCT/DE2010/000905 WO2012013171A1 (fr) 2010-07-30 2010-07-30 Procédé et système de déminage d'une zone sous-marine
EP10750026.6A EP2598396B1 (fr) 2010-07-30 2010-07-30 Procédé et système de déminage d'une zone sous-marine

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DE102012006566A1 (de) * 2012-03-30 2013-10-02 Atlas Elektronik Gmbh Verfahren zur Detektion von Seeminen und Seeminendetektionssystem
US8881665B2 (en) 2011-09-30 2014-11-11 Cggveritas Services Sa Deployment and recovery vessel for autonomous underwater vehicle for seismic survey
WO2015049678A1 (fr) * 2013-10-01 2015-04-09 Elta Systems Ltd. Système et procédé sous-marins
RU2554640C2 (ru) * 2013-06-18 2015-06-27 Акционерное общество "Военно-промышленная корпорация "Научно-производственное объединение машиностроения" (АО "ВПК" "НПО Машиностроения") Способ обнаружения морских целей
US9090319B2 (en) 2011-09-30 2015-07-28 Seabed Geosolutions As Autonomous underwater vehicle for marine seismic surveys
US9381986B2 (en) 2012-11-21 2016-07-05 Seabed Geosolutions B.V. Jet-pump-based autonomous underwater vehicle and method for coupling to ocean bottom during marine seismic survey
DE102015101914A1 (de) * 2015-02-10 2016-08-11 Atlas Elektronik Gmbh Unterwassergleiter, Kontrollstation und Überwachungssystem, insbesondere Tsunami-Warnsystem
US9457879B2 (en) 2012-12-17 2016-10-04 Seabed Geosolutions B.V. Self-burying autonomous underwater vehicle and method for marine seismic surveys
DE102016103955A1 (de) * 2016-03-04 2017-09-07 Atlas Elektronik Gmbh Unterwasserstecker für ein Unterwasserfahrzeug sowie ein Verfahren damit und Unterwasserfahrzeug
US9845137B2 (en) 2013-03-20 2017-12-19 Seabed Geosolutions B.V. Methods and underwater bases for using autonomous underwater vehicle for marine seismic surveys
US9969470B2 (en) 2011-09-30 2018-05-15 Cgg Services Sas Deployment and recovery of autonomous underwater vehicles for seismic survey
WO2018087300A1 (fr) * 2016-11-11 2018-05-17 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Station d'amarrage
US10099760B2 (en) 2014-10-29 2018-10-16 Seabed Geosolutions B.V. Deployment and retrieval of seismic autonomous underwater vehicles
US10322783B2 (en) 2015-10-16 2019-06-18 Seabed Geosolutions B.V. Seismic autonomous underwater vehicle
US10543892B2 (en) 2017-02-06 2020-01-28 Seabed Geosolutions B.V. Ocean bottom seismic autonomous underwater vehicle
WO2022018556A1 (fr) * 2020-07-20 2022-01-27 HonuWorx, Ltd. Procédés et systèmes pour transporter, déployer et faire fonctionner des systèmes robotiques sous-marins
US11255998B2 (en) 2018-05-17 2022-02-22 Seabed Geosolutions B.V. Cathedral body structure for an ocean bottom seismic node
US11447209B2 (en) 2016-11-11 2022-09-20 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. Recovery apparatus and allocated method

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US9487275B2 (en) 2011-09-30 2016-11-08 Cgg Services Sa Deployment and recovery vessel for autonomous underwater vehicle for seismic survey
US8881665B2 (en) 2011-09-30 2014-11-11 Cggveritas Services Sa Deployment and recovery vessel for autonomous underwater vehicle for seismic survey
US9969470B2 (en) 2011-09-30 2018-05-15 Cgg Services Sas Deployment and recovery of autonomous underwater vehicles for seismic survey
US9090319B2 (en) 2011-09-30 2015-07-28 Seabed Geosolutions As Autonomous underwater vehicle for marine seismic surveys
US9821894B2 (en) 2011-09-30 2017-11-21 Seabed Geosolutions As Autonomous underwater vehicle for marine seismic surveys
DE102012006566A1 (de) * 2012-03-30 2013-10-02 Atlas Elektronik Gmbh Verfahren zur Detektion von Seeminen und Seeminendetektionssystem
US9821895B2 (en) 2012-11-21 2017-11-21 Seabed Geosolutions B.V. Autonomous underwater vehicle and method for coupling to ocean bottom during marine seismic survey
US9381986B2 (en) 2012-11-21 2016-07-05 Seabed Geosolutions B.V. Jet-pump-based autonomous underwater vehicle and method for coupling to ocean bottom during marine seismic survey
US9457879B2 (en) 2012-12-17 2016-10-04 Seabed Geosolutions B.V. Self-burying autonomous underwater vehicle and method for marine seismic surveys
US9845137B2 (en) 2013-03-20 2017-12-19 Seabed Geosolutions B.V. Methods and underwater bases for using autonomous underwater vehicle for marine seismic surveys
US10787235B2 (en) 2013-03-20 2020-09-29 Seabed Geosolutions B.V. Methods and underwater bases for using autonomous underwater vehicles for marine seismic surveys
RU2554640C2 (ru) * 2013-06-18 2015-06-27 Акционерное общество "Военно-промышленная корпорация "Научно-производственное объединение машиностроения" (АО "ВПК" "НПО Машиностроения") Способ обнаружения морских целей
AU2018206756B2 (en) * 2013-10-01 2019-09-19 Elta Systems Ltd. Underwater system and method
WO2015049678A1 (fr) * 2013-10-01 2015-04-09 Elta Systems Ltd. Système et procédé sous-marins
US10000263B2 (en) 2013-10-01 2018-06-19 Elta Systems Ltd. Underwater system and method
US10457365B2 (en) 2013-10-01 2019-10-29 Elta Systems Ltd. Underwater system and method
AU2014330808B2 (en) * 2013-10-01 2018-04-19 Elta Systems Ltd. Underwater system and method
US10099760B2 (en) 2014-10-29 2018-10-16 Seabed Geosolutions B.V. Deployment and retrieval of seismic autonomous underwater vehicles
US11059552B2 (en) 2014-10-29 2021-07-13 Seabed Geosolutions B.V. Deployment and retrieval of seismic autonomous underwater vehicles
DE102015101914A1 (de) * 2015-02-10 2016-08-11 Atlas Elektronik Gmbh Unterwassergleiter, Kontrollstation und Überwachungssystem, insbesondere Tsunami-Warnsystem
US10322783B2 (en) 2015-10-16 2019-06-18 Seabed Geosolutions B.V. Seismic autonomous underwater vehicle
DE102016103955A1 (de) * 2016-03-04 2017-09-07 Atlas Elektronik Gmbh Unterwasserstecker für ein Unterwasserfahrzeug sowie ein Verfahren damit und Unterwasserfahrzeug
US11447209B2 (en) 2016-11-11 2022-09-20 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. Recovery apparatus and allocated method
WO2018087300A1 (fr) * 2016-11-11 2018-05-17 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Station d'amarrage
US10543892B2 (en) 2017-02-06 2020-01-28 Seabed Geosolutions B.V. Ocean bottom seismic autonomous underwater vehicle
US11267546B2 (en) 2017-02-06 2022-03-08 Seabed Geosolutions B.V. Ocean bottom seismic autonomous underwater vehicle
US11255998B2 (en) 2018-05-17 2022-02-22 Seabed Geosolutions B.V. Cathedral body structure for an ocean bottom seismic node
US11305853B2 (en) 2020-07-20 2022-04-19 HonuWorx, Ltd. Methods and systems for conveying, deploying and operating subsea robotic systems
WO2022018556A1 (fr) * 2020-07-20 2022-01-27 HonuWorx, Ltd. Procédés et systèmes pour transporter, déployer et faire fonctionner des systèmes robotiques sous-marins
US11628917B2 (en) 2020-07-20 2023-04-18 HonuWorx, Ltd. Methods and systems for conveying, deploying and operating subsea robotic systems

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