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DE102007005074A1 - Autonomously operating submarine vehicle, autonomously operates on terrain of harbor facility, is driven on chain and takes up sonar images for inspection of submarine region of harbor facility - Google Patents

Autonomously operating submarine vehicle, autonomously operates on terrain of harbor facility, is driven on chain and takes up sonar images for inspection of submarine region of harbor facility Download PDF

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Publication number
DE102007005074A1
DE102007005074A1 DE200710005074 DE102007005074A DE102007005074A1 DE 102007005074 A1 DE102007005074 A1 DE 102007005074A1 DE 200710005074 DE200710005074 DE 200710005074 DE 102007005074 A DE102007005074 A DE 102007005074A DE 102007005074 A1 DE102007005074 A1 DE 102007005074A1
Authority
DE
Germany
Prior art keywords
submarine
vehicle
harbor facility
autonomously
terrain
Prior art date
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.)
Ceased
Application number
DE200710005074
Other languages
German (de)
Inventor
Michael Viergutz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MEERESTECHNIK BREMEN GmbH
Original Assignee
MEERESTECHNIK BREMEN 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 MEERESTECHNIK BREMEN GmbH filed Critical MEERESTECHNIK BREMEN GmbH
Priority to DE200710005074 priority Critical patent/DE102007005074A1/en
Publication of DE102007005074A1 publication Critical patent/DE102007005074A1/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48—Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The vehicle autonomously operates on a terrain of a harbor facility and is driven on a chain (40). The vehicle takes up sonar images for inspection of a submarine region of the harbor facility. The vehicle is positioned at a submarine charging station, and is automatically coupled to the charging station, at which charging of batteries (10) and data exchange takes place. A CPU (30) carries out controlling by inertial guidance, sonar image processing and data storage of actual and previous sonar images.

Description

Aufgabenstellungtask

Der Erfindung liegt die Aufgabe zu Grunde, den Unterwasserbereich einer Hafenanlage zu sichern und abgelegte Gegenstände frühzeitig zu orten. Hierzu wird der Unterwasserbereich der Hafenanlage regelmäßig auf Veränderungen untersucht (change detection).Of the Invention is the object of the underwater area of a To secure port facility and to locate stored items early. For this purpose is the underwater area of the port facility is regularly examined for changes (change detection).

Stand der TechnikState of the art

Bisher werden diese Aufgaben unregelmäßig durch Schiffe wahrgenommen, welche die Hafenanlagen inspizieren. Diese Arbeit erfordert Personal und wird in größeren Zeitabständen durchgeführt. Es sind auch automatisch arbeitende Systeme bekannt, die aber im Wasser schwimmen. Diese Systeme sind bei starker Strömung nicht einsetzbar. Des Weiteren besteht bei diesen Systemen während des normalen Hafenbetriebs Kollisionsgefahr mit Schiffen.So far These tasks are carried out irregularly Vessels are seen inspecting the port facilities. These Work requires staff and is carried out at longer intervals. There are Also known as automatic systems, but in the water swim. These systems can not be used in strong currents. Of Further, these systems exist during normal port operations Risk of collision with ships.

Ausführungsbeispielembodiment

Erfindungsgemäß wird die Aufgabenstellung durch ein Fahrzeug gelöst, das an einer Unterwasser-Ladestation stationiert ist und von dort regelmäßig zur Begutachtung einer vorgegebenen Strecke startet. An der Ladestation erfolgen die Aufladung der Batterien 10 des autonom arbeitenden Fahrzeuges sowie der Datenaustausch mit einer Einsatzleitstelle des Hafenbetreibers bzw. der für die Hafensicherheit zuständigen Steile. Das mit Sonar 20 ausgestatte Fahrzeug vergleicht während der Fahrt ständig die aktuell gemachten Sonarbilder mit denen der letzten Fahrt. Hierbei wird ein so genanntes „Scanning-Sonar" eingesetzt welches 360° Erfassungswinkel aufweist. Wird dabei eine Änderung festgestellt, die einen bestimmten Rahmen überschreitet, wird die Einsatzleitstelle bei Rückkehr an die Ladestation von der Position dieser Änderung über Datenaustausch informiert. Die Zentrale Recheneinheit 30 des Fahrzeuges übernimmt die Steuerung mittels Trägheitsnavigation und Sonarbildverarbeitung sowie die Datenspeicherung der aktuellen und der letzten Sonarbilder. Die Sonarbilder werden auch zur Hindernisumfahrung verwendet wenn ein Gegenstand im Fahrweg des Fahrzeuges liegt. Die Daten der letzten Inspektionsfahrt sowie Betriebsdaten des Fahrzeuges werden während der Aufladung der Batterien an die Einsatzleitstelle per Datenleitung übermittelt.According to the invention, the task is solved by a vehicle that is stationed at an underwater charging station and from there regularly starts to assess a predetermined route. The charging station charges the batteries 10 the autonomously operating vehicle and the data exchange with a control center of the port operator or responsible for port security Steile. That with sonar 20 equipped vehicle constantly compares the currently made sonar images with those of the last drive while driving. In this case, a so-called "scanning sonar" is used which has a 360 ° detection angle If a change is detected that exceeds a certain frame, the control center is informed of the position of this change via data exchange when returning to the charging station 30 the vehicle takes over the control by means of inertial navigation and sonar image processing as well as the data storage of the current and the last sonar images. The sonar images are also used for obstacle avoidance when an object is in the driveway of the vehicle. The data of the last inspection trip as well as operating data of the vehicle are transmitted to the dispatch center via data cable during the charging of the batteries.

Die Fahrten zur Begutachtung können während des normalen Hafenbetriebes gemacht werden, da das Fahrzeug am Boden fährt und nur ca. 80 cm hoch ist. Gleichfalls machen starke Strömungen, wie sie beispielsweise in Tidenhäfen anzutreffen sind, dem Fahrzeug nichts aus, da es über ausreichend Bodenhaftung verfügt. Die Verwendung von Ketten 40 als Fahrwerk ist bei den meist weichen Hafensedimenten vorteilhaft aber nicht zwingend notwendig. Es ist gleichermaßen ein Fahrzeug mit Rädern vorstellbar.The assessments can be made during normal port operations, as the vehicle travels on the ground and is only about 80 cm high. Similarly, strong currents, such as those found in tidal harbors, do not bother the vehicle as it has sufficient traction. The use of chains 40 As a chassis is in the mostly soft harbor sediments advantageous but not essential. It is equally conceivable a wheeled vehicle.

Claims (4)

Unterwasserfahrzeug, dadurch gekennzeichnet, dass es auf dem Boden einer Hafenanlage autonom fahrend arbeitet.Underwater vehicle, characterized in that it operates autonomously driving on the floor of a port facility. Unterwasserfahrzeug nach Anspruch 1, dadurch gekennzeichnet, dass es auf Ketten fährt.Underwater vehicle according to claim 1, characterized in that that it drives on chains. Unterwasserfahrzeug nach Anspruch 1, dadurch gekennzeichnet, dass es Sonarbilder zur Inspektion des Unterwasserbereichs der Hafenanlage aufnimmt.Underwater vehicle according to claim 1, characterized in that that it will record sonar images to inspect the underwater area of the port facility. Unterwasserfahrzeug nach Anspruch 1, dadurch gekennzeichnet, dass es selbsttätig an eine Unterwasser-Ladestation ankoppelt an der Batterieladung und Datenaustausch stattfinden.Underwater vehicle according to claim 1, characterized in that that it is self-acting to an underwater charging station on the battery charge and data exchange take place.
DE200710005074 2007-01-27 2007-01-27 Autonomously operating submarine vehicle, autonomously operates on terrain of harbor facility, is driven on chain and takes up sonar images for inspection of submarine region of harbor facility Ceased DE102007005074A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE200710005074 DE102007005074A1 (en) 2007-01-27 2007-01-27 Autonomously operating submarine vehicle, autonomously operates on terrain of harbor facility, is driven on chain and takes up sonar images for inspection of submarine region of harbor facility

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200710005074 DE102007005074A1 (en) 2007-01-27 2007-01-27 Autonomously operating submarine vehicle, autonomously operates on terrain of harbor facility, is driven on chain and takes up sonar images for inspection of submarine region of harbor facility

Publications (1)

Publication Number Publication Date
DE102007005074A1 true DE102007005074A1 (en) 2008-07-31

Family

ID=39563987

Family Applications (1)

Application Number Title Priority Date Filing Date
DE200710005074 Ceased DE102007005074A1 (en) 2007-01-27 2007-01-27 Autonomously operating submarine vehicle, autonomously operates on terrain of harbor facility, is driven on chain and takes up sonar images for inspection of submarine region of harbor facility

Country Status (1)

Country Link
DE (1) DE102007005074A1 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2286015A1 (en) * 1974-09-30 1976-04-23 Anvar Independent underwater vehicle - has seabed sampling device underneath chassis with suction mechanism
DE3808956A1 (en) * 1988-03-17 1989-10-05 Helmut Dr Binder Submersible robot system for independent operation on or under the surface of liquids
DE69202045T2 (en) * 1991-12-17 1995-09-21 Eca Asnieres Process for the destruction of an underwater object, in particular a sea mine.
WO2001021476A1 (en) * 1999-09-20 2001-03-29 Coflexip, S.A. Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle
WO2003011683A1 (en) * 2001-07-30 2003-02-13 Martin Pehrson Autonomous system for underwater inspection
US6802237B1 (en) * 2003-04-28 2004-10-12 The United States Of America As Represented By The Secretary Of The Navy System and method for neutralization of mines using robotics and penetrating rods
DE60017344T2 (en) * 1999-05-19 2005-06-02 S.A.T.E. - Systems And Advanced Technologies Engineering S.R.L. ANDOCKING DEVICE FOR AUTONOMOUS UNDERWATER VEHICLES WITH OWN DRIVE
DE102006002116A1 (en) * 2006-01-15 2007-07-19 Meerestechnik Bremen Gmbh Submarine vehicle e.g. crawler, for determining position of sea cables, has chains distributing weight of vehicle to surface of square meter, where vehicle is driven using data from cable positioning system over or on sea cable

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2286015A1 (en) * 1974-09-30 1976-04-23 Anvar Independent underwater vehicle - has seabed sampling device underneath chassis with suction mechanism
DE3808956A1 (en) * 1988-03-17 1989-10-05 Helmut Dr Binder Submersible robot system for independent operation on or under the surface of liquids
DE69202045T2 (en) * 1991-12-17 1995-09-21 Eca Asnieres Process for the destruction of an underwater object, in particular a sea mine.
DE60017344T2 (en) * 1999-05-19 2005-06-02 S.A.T.E. - Systems And Advanced Technologies Engineering S.R.L. ANDOCKING DEVICE FOR AUTONOMOUS UNDERWATER VEHICLES WITH OWN DRIVE
WO2001021476A1 (en) * 1999-09-20 2001-03-29 Coflexip, S.A. Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle
WO2003011683A1 (en) * 2001-07-30 2003-02-13 Martin Pehrson Autonomous system for underwater inspection
US6802237B1 (en) * 2003-04-28 2004-10-12 The United States Of America As Represented By The Secretary Of The Navy System and method for neutralization of mines using robotics and penetrating rods
DE102006002116A1 (en) * 2006-01-15 2007-07-19 Meerestechnik Bremen Gmbh Submarine vehicle e.g. crawler, for determining position of sea cables, has chains distributing weight of vehicle to surface of square meter, where vehicle is driven using data from cable positioning system over or on sea cable

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