AU2021292366B8 - Floating or submersible body for acoustic position finding, in particular for de-mining activities - Google Patents
Floating or submersible body for acoustic position finding, in particular for de-mining activities Download PDFInfo
- Publication number
- AU2021292366B8 AU2021292366B8 AU2021292366A AU2021292366A AU2021292366B8 AU 2021292366 B8 AU2021292366 B8 AU 2021292366B8 AU 2021292366 A AU2021292366 A AU 2021292366A AU 2021292366 A AU2021292366 A AU 2021292366A AU 2021292366 B8 AU2021292366 B8 AU 2021292366B8
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- AU
- Australia
- Prior art keywords
- floating
- axis
- submersible body
- submersible
- centrifugal mass
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B63G7/08—Mine-sweeping means, Means for destroying mines of acoustic type
-
- 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
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Landscapes
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Toys (AREA)
Abstract
The present invention relates to a floating or submersible body (40, 42) for de-mining activities, the floating or submersible body (40, 42) having a housing, wherein the housing has rotational symmetry, wherein the housing has an axis of symmetry, wherein the housing has rotational symmetry about the axis of symmetry, wherein the floating or submersible body (40, 42) has at least one first hydroacoustic transceiver device (70), characterized in that the floating or submersible body (40, 42) has an oscillating mass (50, 52), wherein the oscillating mass (50, 52) can be made to rotate about an axis of rotation, wherein the axis of rotation is arranged perpendicular to the axis of symmetry.
Description
1. FIELD OF THE INVENTION
The invention relates to a floating or submersible body, in particular for de-mining.
2, BACKGROUNDART
Mines are cleared, for example, by divers or by vehicles manned by divers. The disadvantage here is that people are directly in a danger area and there is a risk of injury or death. For this reason, techniques are increasingly being developed to dispense with the use of people directly in situ at the mine.
Mines are therefore often identified and cleared today by means of unmanned underwater vehicles (UUV). For example, in order to determine the position of such an unmanned underwater vehicle or to communicate with the unmanned underwater vehicle, a separate floating or submersible body is usually deployed into the water on a cable, in particular by a surface vehicle or from a helicopter. This floating or submersible body has a device for acoustic position location of the underwater vehicle. Thus, for example, the position of the unmanned underwater vehicle can be determined by means of active sonar. For the position determination, for example, of an unmanned underwater vehicle, the orientation in space of the floating or submersible body and thus the device for acoustic position location must be known. In order to detect movements of such floating or submersible bodies and thus to determine the exact position and orientation, magnetic and position sensors are usually used, which are installed inside the housing of the floating or submersible body. Due to environmental influences, however, it can happen that the floating or submersible body is set in rotation. Due to the resulting dynamic effects, the accuracy of the position determination can then be reduced. These floating or submersible bodies, for example, have a cylindrical basic shape. As a result, it can happen that the floating or submersible body is set in rotation. Typically, magnetic sensors are used to
20375882_1 (GHMaters) P119236.AU determine the azimuth content of the orientation. In principle, time delays in the measurement of orientation then lead to an error in the relative bearing from the floating or submersible body to the underwater vehicle when the floating or submersible body rotates, which increases with increasing angular rate. Even the smallest angular errors (at a measuring distance, which is usually several 100 m), lead to a significant deviation between the real position of the unmanned underwater vehicle and the determined position.
Accordingly, it would be advantageous to prevent or at least reduce the rotation of a floating or submersible body.
3. SUMMARY OF THE INVENTION
A floating or submersible body according to the invention for de-mining comprises (i.e., includes) a housing that is rotationally symmetric about an axis of symmetry. The floating or submersible body itself usually has no rotational symmetry, since, for example, sensors, fastening devices may only be present once and are not necessarily arranged on the axis of symmetry. The only essential thing is that the housing itself has a basic shape which exhibits rotational symmetry. The rotational symmetry of the housing easily causes the floating or submersible body to rotate. Examples of basic shapes of housings of floating or submersible bodies are greatly simplified and by way of example are cylinders, for example also a hexagonal prism, a teardrop shape, a hemisphere with an attached cone and the like.
The housing therefore has an axis of symmetry, wherein the housing is rotationally symmetrical around the axis of symmetry.
The floating or submersible body has at least a first hydroacoustic transmitting and receiving device. A hydroacoustic transmitting and receiving device within the meaning of the invention is to be interpreted broadly and includes active sonar and passive sonar. In addition, the floating or submersible body may have an underwater 20375882_1 (GHMaters) P119236.AU communication device which enables wired communication, in particular by means of a fiber optic cable. Preferably, the hydroacoustic transmitting and receiving device is arranged on the underside of the floating or submersible body, in particular a communication buoy. For example, the hydroacoustic transmitting and receiving device is arranged in the form of a hemisphere on the underside of the floating or submersible body.
The floating or submersible body also has a centrifugal mass, wherein the centrifugal mass is rotatable around an axis of rotation. The axis of symmetry is arranged vertically and the axis of rotation horizontally. Horizontal is parallel to the water surface, vertical is perpendicular to the water surface. That is, the two axes are orthogonal to one another.
A rotating mass has angular momentum. A rotation around the axis of angular momentum is not affected. A rotation around another axis is suppressed by the angular momentum. The greater the stored angular momentum, the greater the degree of suppression. Therefore, the angular momentum perpendicular to the axis of symmetry counteracts a rotation around the axis of symmetry. This prevents or slows down the rotation of the floating or submersible body around the axes perpendicular to the angular momentum.
In a further alternative of the invention, the floating or submersible body has a second centrifugal mass, wherein the centrifugal mass is rotatable around a second axis of rotation arranged parallel to the axis of symmetry of the underwater device's housing. This arrangement avoids tilting if the floating or submersible body is on the water surface.
In a further embodiment of the invention, the floating or submersible body has a first centrifugal mass and a second centrifugal mass. The first centrifugal mass can be rotated around a first axis of rotation, wherein the first axis of rotation is arranged
20375882_1 (GHMaters) P119236.AU perpendicular to the axis of symmetry of the underwater device's housing. The second centrifugal mass can be rotated around a second axis of rotation, wherein the axis of rotation is arranged parallel to the axis of symmetry of the underwater device's housing.
In a further embodiment of the invention, the floating or submersible body has a first centrifugal mass and a third centrifugal mass. The first centrifugal mass can be rotated around a first axis of rotation, wherein the first axis of rotation is arranged perpendicular to the axis of symmetry of the underwater device's housing. The third centrifugal mass can be rotated around a third axis of rotation, wherein the axis of rotation is arranged parallel to the axis of symmetry of the underwater device's housing and perpendicular to the first axis of rotation.
In a further embodiment of the invention, the mass of the centrifugal mass is 1% to 50%, preferably 10% to 20% of the total mass of the floating or submersible body.
In a further embodiment of the invention, the centrifugal mass has an angular
momentum of 0.1 to 100 , preferably S from 0.5 to 5kgm S 2
If, for example, it is assumed that the centrifugal mass is implemented as a full cylinder, the angular momentum of a full cylinder given by:
L=i-m-R2.0) 2
Taking, for example, a disc-shaped centrifugal mass with a mass of, for example, 10 kg, a radius of 10 cm and allowing it to rotate at a speed of 600 revolutions per minute, the result is an angular momentum of:
L 10kg - (O.lm) 2 10s-1 = 0 5 kgM 2 2 (S
20375882_1(GHMafes) PI19236.AJ
In a further embodiment of the invention, the centrifugal mass is connected to a rotary drive. Preferably, the rotary drive is an electric drive.
Alternatively, the centrifugal mass can be rotated by an external drive before the floating or submersible body is deployed, but this is not part of the floating or submersible body. This embodiment simplifies the floating or submersible body. Due to the inevitable losses, however, a comparatively large centrifugal mass with a comparatively high rotational speed must be chosen.
In a further embodiment of the invention, the floating or submersible body is submersible, thus a submersible body. Particularly preferably, the submersible body is brought into the water on a cable by a ship or by a helicopter and completely submerges there. For this application, the submersible body is preferably trimmed so that its mass is greater than its total buoyancy.
In a further embodiment of the invention, the first hydroacoustic transmitting and receiving device has a sonar antenna. Preferably, the sonar antenna is used to locate an unmanned underwater vehicle by means of active sonar for de-mining.
In a further embodiment of the invention, the floating or submersible body has a cylindrical basic shape. Cylinders with a polygonal cross-section are also called prisms.
In one embodiment of the invention, the floating or submersible body has a basic shape which is conical. The cone can also be a truncated cone. In particular, the floating or submersible body has a hemispherical shape on the base of the cone.
In a further embodiment of the invention, the floating or submersible body has an above-water communication device, wherein the above-water communication device 20375882_1 (GHMaters) P119236.AU is designed for laser communication, for communication with a satellite, for radio communication or for wired communication.
Likewise, the idea according to the invention is also applicable to a deployment device, which is abseiled from a helicopter to set down an unmanned underwater vehicle (UUV) for de-mining. This results in an analogous situation to the submersible body. The deployment device is heavier than air and is lowered by the helicopter on a rope. In contrast to the submersible body, the surrounding fluid here is air instead of water. Due to the air movement generated by the main rotor, the effect here is even stronger. At the same time, the friction in air is much lower, so that even an elongated deployment device which is not rotationally symmetrical is very easily set in rotation. A corresponding deployment device therefore has a centrifugal mass, wherein the centrifugal mass is rotatable around an axis of rotation, wherein the axis of rotation is arranged perpendicular to the deployment direction and thus parallel to the water surface (for an idealized resting position). Further training, in particular on centrifugal mass, its angular momentum and the use of a second centrifugal mass is also advantageous training here.
The floating or submersible body according to the invention is explained below in more detail on the basis of embodiments shown in the drawings.
4. BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 is a schematic illustration of a de-mining operation using a submersible de mining body in accordance with an embodiment of the invention;
Fig. 2 is a schematic section through the submersible body shown in fig. 1; and
Fig. 3 is a schematic cross-section through a floating body for de-mining in accordance with another embodiment of the invention.
5. DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS
20375882_1 (GHMaters) P119236.AU
In fig. 1, the method of de-mining is shown schematically in a very simplified way. A ship 10 deploys an unmanned underwater vehicle 30, which moves to a mine 20. To locate the unmanned underwater vehicle 30 and also for communication between the ship 10 and the unmanned underwater vehicle 30, the ship 10 has deployed a submersible body 40 into the water. This submersible body 40 is shown in fig. 2 in a schematic section. At the lower end of the submersible body 40 there is a hydroacoustic transmitting and receiving device 70. In the submersible body 40, a centrifugal mass 50 is arranged, which is set in rotation by a rotational drive 60. The submersible body 40, for example, has a cylindrical basic shape with a round cross section, so that the rotational symmetry of the housing of the communication buoy 40 is vertical in the example shown. The rotation of the centrifugal mass 50 takes place around an axis of rotation which is arranged horizontally in the plane of the drawing. Thus, the axis of rotation is arranged perpendicular to the axis of symmetry.
Fig. 3 shows a float 42. The housing of the float 42 has a hemispherical shape at the lower end, in which the hydroacoustic transmitting and receiving device 70 is arranged. Above this, the housing has a conical section in which a first centrifugal mass 50 and a second centrifugal mass 52 are arranged, wherein the first centrifugal mass 50 has an axis of rotation which is arranged horizontally in the plane of the drawing, wherein the second centrifugal mass 20 has an axis of rotation which is perpendicular to the plane of the drawing. Both axes of rotation are thus perpendicular to the axis of symmetry of the housing of the float 42. At the upper end of the float 42 is arranged an above-water communication device 80, which is designed for laser communication with a ship 10, for example.
20375882_1 (GHMaters) P119236.AU
Reference characters
10 Ship
20 Mine
30 Unmanned underwater vehicle
40 Submersible body
42 Floating body
50 Centrifugal mass
52 Centrifugal mass
60 Rotational drive
70 Hydroacoustic transmitting and receiving device
80 Above-water communication device
20375882_1 (GHMaters) P119236.AU
Claims (1)
1. A floating or submersible body for de-mining, comprising: a housing having an axis of symmetry around which the housing is rotationally symmetrical; at least a first hydroacoustic transmitting and receiving device; and a first centrifugal mass, wherein the first centrifugal mass is rotatable around a first axis of rotation, characterized in that the axis of symmetry and the first axis of rotation are orthogonal to each other, and in that, in use of the floating or submersible body, the first axis of rotation is parallel to a surface of a body of water in which the body is used for de-mining and the axis of symmetry is oriented perpendicular to the water surface.
2. The floating or submersible body according to claim 1, characterized in that the mass of the first centrifugal mass is one of 1% to 50% and 10% to 20% of the total mass of the floating or submersible body.
3. The floating or submersible body as claimed in any one of the preceding claims, characterized in that the first centrifugal mass has one of an angular
momentum of 0.1 to 100 S and of 0.5 to 5. S
4. The floating or submersible body as claimed in any one of the preceding claims, characterized in that the first centrifugal mass is connected to a rotational drive.
5. The floating or submersible body as claimed in any one of the preceding claims, characterized in that the housing is submersible.
20375882_1 (GHMaters) P119236.AU
6. The floating or submersible body as claimed in any one of the preceding claims, characterized in that the first hydroacoustic transmitting and receiving device has a sonar antenna.
7. The floating or submersible body as claimed in any one of the preceding claims, characterized by further comprising an above-water communication device designed for one of laser communication, communication with a satellite, radio communication or wired communication.
9. The floating or submersible body as claimed in any one of the preceding claims, characterized in that the submersible body has a cylindrical basic shape.
10. The floating or submersible body as claimed in any one of claims 1 to 8, characterized by further comprising a second centrifugal mass, wherein the second centrifugal mass is rotatable around a second axis of rotation, and wherein the second axis of rotation is parallel to the axis of symmetry.
11. The floating or submersible body as claimed in claim 10, wherein the housing is a floating body, wherein the housing has a hemispherical shape at a lower end, in which the hydroacoustic transmitting and receiving device is arranged, and wherein the housing has a conical section above the lower end in which the first centrifugal mass and a second centrifugal mass are arranged.
20375882_1 (GHMaters) P119236.AU
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102020116238.3A DE102020116238A1 (en) | 2020-06-19 | 2020-06-19 | Floating or diving bodies for acoustic location, especially for mine hunting |
| DE102020116238.3 | 2020-06-19 | ||
| PCT/EP2021/065632 WO2021254874A1 (en) | 2020-06-19 | 2021-06-10 | Floating or submersible body for acoustic position finding, in particular for de-mining activities |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| AU2021292366A1 AU2021292366A1 (en) | 2022-08-25 |
| AU2021292366B2 AU2021292366B2 (en) | 2024-01-04 |
| AU2021292366B8 true AU2021292366B8 (en) | 2024-01-25 |
Family
ID=76522936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2021292366A Active AU2021292366B8 (en) | 2020-06-19 | 2021-06-10 | Floating or submersible body for acoustic position finding, in particular for de-mining activities |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP4168306A1 (en) |
| AU (1) | AU2021292366B8 (en) |
| DE (1) | DE102020116238A1 (en) |
| WO (1) | WO2021254874A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102021213745A1 (en) | 2021-12-02 | 2023-06-07 | Atlas Elektronik Gmbh | Underwater vehicle for destroying sea mines |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5208784A (en) * | 1989-03-16 | 1993-05-04 | Laukien Guenther | Method for influencing an acoustic source, in particular of a submerged submarine, and submarine |
| US20030167998A1 (en) * | 2002-03-07 | 2003-09-11 | Huntsman Dwight David | Underwater vehicles |
| GB2508399A (en) * | 2012-11-30 | 2014-06-04 | Univ Southampton | Marine vehicle using a gyroscopic system to generate power for a propulsion system |
| CN110304224A (en) * | 2019-04-15 | 2019-10-08 | 清华大学 | Side pushes away submariner device and submariner method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB536031A (en) | 1939-11-03 | 1941-04-30 | Nicolai Minorsky | Anti-heeling device for ships, airships and the like |
| DE102012006566A1 (en) | 2012-03-30 | 2013-10-02 | Atlas Elektronik Gmbh | Method of detecting sea mines and marine detection system |
-
2020
- 2020-06-19 DE DE102020116238.3A patent/DE102020116238A1/en active Pending
-
2021
- 2021-06-10 WO PCT/EP2021/065632 patent/WO2021254874A1/en not_active Ceased
- 2021-06-10 AU AU2021292366A patent/AU2021292366B8/en active Active
- 2021-06-10 EP EP21733396.2A patent/EP4168306A1/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5208784A (en) * | 1989-03-16 | 1993-05-04 | Laukien Guenther | Method for influencing an acoustic source, in particular of a submerged submarine, and submarine |
| US20030167998A1 (en) * | 2002-03-07 | 2003-09-11 | Huntsman Dwight David | Underwater vehicles |
| GB2508399A (en) * | 2012-11-30 | 2014-06-04 | Univ Southampton | Marine vehicle using a gyroscopic system to generate power for a propulsion system |
| CN110304224A (en) * | 2019-04-15 | 2019-10-08 | 清华大学 | Side pushes away submariner device and submariner method |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102020116238A1 (en) | 2021-12-23 |
| AU2021292366A1 (en) | 2022-08-25 |
| EP4168306A1 (en) | 2023-04-26 |
| AU2021292366B2 (en) | 2024-01-04 |
| WO2021254874A1 (en) | 2021-12-23 |
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Legal Events
| Date | Code | Title | Description |
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| HB | Alteration of name in register |
Owner name: THYSSENKRUPP AG Free format text: FORMER NAME(S): THYSSENKRUPP AG; ATLAS ELEKTRONIK GMBH Owner name: ATLAS ELEKTRONIK GMBH Free format text: FORMER NAME(S): THYSSENKRUPP AG; ATLAS ELEKTRONIK GMBH |
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| TH | Corrigenda |
Free format text: IN VOL 58 , NO 1 , PAGE(S) 120 UNDER THE HEADING APPLICATIONS ACCEPTED - NAME INDEX UNDER THE NAME ATLAS ELEKTRONIK GMBH; THYSSENKRUPP AG, APPLICATION NO. 2021292366, UNDER INID (71) CORRECT THE APPLICANT NAME TO ATLAS ELEKTRONIK GMBH; THYSSENKRUPP AG |
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| FGA | Letters patent sealed or granted (standard patent) |