39results about "Mine-sweeping" patented technology

A unit for examining and recovering suspicious objects in underwater locations, in particular explosive ordnance, the unit comprising a supporting body and a gripping device with at least two gripping shells which are arranged opposite one another and between which a receiving region is formed, the gripping device being mechanically connected to the supporting body at a connecting point such that a gripper region is formed which extends from the connecting point in a direction facing away from the supporting body, the unit additionally comprising at least one flushing nozzle which is mechanically fastened in the gripper region, the flushing nozzle being configured to dispense a flushing medium for uncovering the suspicious object outside the receiving region of the gripping shells, the flushing nozzle comprising a suction pump which is connected in a fluid-conducting manner to at least one suction piece, the suction piece being arranged in the gripper region to provide a sediment extraction means in the vicinity of the suspicious object.

A seabed magnetic exploration device capable of suppressing the difference in distance from each magnetic sensor to the seabed. [Solution] This is an underwater magnetic exploration device that explores dangerous objects on the seabed F by measuring with multiple magnetic sensors 12-21 fixed at intervals in a width direction W perpendicular to the direction of movement T of a frame body 11 that moves underwater. The device is equipped with multiple transmitters and receivers fixed to different locations in the width direction of the frame body 11, each of which emits sound waves toward the seabed F and receives reflected waves, distance derivation means that derives the distance from each transmitter and receiver to the seabed F based on the time difference between the emission of the sound wave by each transmitter and receiver and the reception of the reflected wave, and tilt adjustment means 25, 26, 27, 28 that adjust the tilt of the frame body 11 in the width direction.

Method for classifying underwater objects (40), having the following features: a) the method uses an unmanned underwater vehicle, which is referred to below as AUV (10) and has a sonar device (12) connected to an AUV computer (11), and a mother ship computer (21) of a mother ship (20), which communicates on the one hand with the AUV computer (11) and on the other hand with a data center (30), b) during a classification mission, the AUV computer (11) classifies underwater objects (40) using a mine hunting classification program from sonar raw data sections of the sonar device (12), c) the mother ship (20) transmits at least one mission parameter value and an associated standard deviation value of at least one mission parameter from each of the following groups to the data center before a classification mission: • group with mission parameters of the seabed,• Group with mission parameters of the underwater objects to be detected, • Group with mission parameters of the sea area, • Group with mission parameters of the operational task, d) the data center has access to the respective program source code of several mine-hunting classification programs, e) the data center calculates a suitability value and an error value for each of the several mine-hunting classification programs using a calculation program with the tools of a polynomial chaos expansion and an item response theory, based on the transmitted mission parameter values ​​and associated standard deviation values ​​and based on the respective program source code, f) the AUV (10) uses the mine-hunting classification program with a highest usage value derived from the suitability value and the error value.

A data processing unit (20) for predicting a position (22) of a sea mine in a search area is disclosed. The data processing unit (20) is designed to use a model (24) based on known positions (26) of sea mines in the search area to check whether there are one or more additional positions (22) in the search area at which a sea mine is highly likely to be located.

The disclosure relates to a system for measuring electric and / or magnetic field of an object, the system comprising: an underwater vehicle comprising: a plurality of links (2a-2d) that are connected to one another by joint modules for generating a flexural motion of the underwater vehicle; wherein the flexural motion devices enable movement of the underwater vehicle and control of the orientation and / or location of the underwater vehicle, wherein the plurality of the links define a hull having a first end (4a) and a second end (4b); a sensor arrangement comprises: a first electrode (6a) mounted on the first end (4a) of the hull; a second electrode (6b) mounted on the second end (4b) of the hull; the first and the second electrode configured to measure electric field of an object, the electric field data sampled with sampling frequencies between 1 and 300 Hz; and / or a first single, 2-, or 3-axes magnetometers (7a) mounted inside the first end (4a) of the underwater vehicle; a second single, 2-, or 3-axes magnetometers (7b) mounted inside the second end (4b) of the underwater vehicle; the single, 2-, or 3-axes magnetometers configured to measure a magnetic field of the object, wherein distance and relative position between the first end of the hull and the second end of the hull is adjustable to enable measuring electric and / or magnetic field in one or more planes / directions. The disclosure further relates to a method of measuring electric and / or magnetic field of an object with an underwater vehicle.

A minehunting system (20) comprising a first and a second unmanned underwater vehicle (UAV) is disclosed. The first UAV (22) is trained to proceed on a predetermined course (32) to an object (34) in the water, generating a situational awareness picture (50) using a sonar system while proceeding and identifying the object (34). The second UAV (24) is trained to proceed on the predetermined course (32) to an object identified as the identified mine, with the second UAV and / or a base station being trained to monitor and, if necessary, adjust the current course (32) of the second UAV based on the situational awareness picture (50) of the first UAV. The second UAV (24) is further trained to disarm the mine.

A computer-implemented method for locating a radar sensor includes obtaining a first radar scan of a first environment of the radar sensor, the first environment including a power range spectrum set including a first power range spectrum; extracting from the first radar scan a first landmark set including a first landmark defined by a range and an azimuth angle; calculating respective first descriptor sets including a first descriptor defining the first landmark by a respective relative range and azimuth angle with respect to one or more landmarks included in the first landmark set; accessing one or more landmark reference sets of each environment and calculating a descriptor reference set for each of the landmark reference sets; matching the first descriptor set with a corresponding first descriptor reference set; and identifying a first location of the radar sensor using a first result of the matching.

Device (10) for the investigation and recovery of suspected objects in underwater areas, in particular munitions, comprising: - a supporting body (100); and - a gripping device (102) with at least two oppositely arranged gripper shells (104), wherein a receiving area (106) is formed between the two gripper shells, and - the gripping device is mechanically connected to the support body at a connection point (108), forming a gripping area (110) which extends from the connection point in a direction away from the support body, the device also - comprises at least one mechanically attached flushing nozzle (112) in the gripper area, wherein the flushing nozzle is configured to discharge a flushing medium for exposing the suspected object directed towards an area outside the gripping area, and - a suction pump (114) comprising a fluid-conducting connection to at least one suction nozzle (116), wherein the suction nozzle is arranged in the gripper area, in particular to provide sediment extraction close to the suspected object, characterized by the fact that the device (10) also an acoustic camera (124) for visual identification of the suspected object, wherein the acoustic camera is connected to the support body via an extendable mounting arm (126) in order to move the acoustic camera relative to the support body (100) with the extendable mounting arm, and / or has a measuring probe (128) for determining the position of the suspected object in an unexposed state, wherein the measuring probe is connected to the support body via an extendable probe arm (130) in order to move the measuring probe relative to the support body (100) with the foldable probe arm.

The present invention provides a surface vessel comprising a minesweeping system (1), the minesweeping system comprises a sweep cable (3), a sweep cable winch (4) and an electric power source (5), the sweep cable (3) is configured to provide a closed electric loop with the electric power source (5) when the sweep cable (3) is spooled off the sweep cable winch (4) and towed by the surface vessel (2); the sweep cable (3) has a first end (6) connected to the sweep cable winch (4), such that the sweep cable can be spooled on / off the sweep cable winch as a single strand, and a second end connected to the electric power source; the first end and the second end of the sweep cable (3) are electrically connectable via a connector assembly (8,22,23).

The present invention relates to an underwater vehicle provided with a sonar for detecting underwater objects, the sonar being a sonar with an elevation angular coverage of between 45 and 240 degrees, which sonar is oriented towards the surface when the underwater vehicle is in the phase of detecting an underwater object, and a bearing angular coverage of less than 10 degrees to obtain measurements in a plane, wherein all of the measurements in a plane are obtained in one transmitting / receiving cycle, the sonar enabling submerged objects located at a depth less than that of the underwater vehicle to be detected.

The present application provides an underground boat-type unmanned rescue robot, comprising a robot body, a sensing component and a control device, wherein the sensing component is connected to the control device, and the control device is located in the robot body and connected to the driving device of the robot body; the sensing component comprises a pressure sensor and a thermal imaging sensor, the pressure sensor is located at the outer bottom of the robot body, and the thermal imaging sensor is located at the outer side wall of the robot body; the pressure sensor is used to sense the draft depth of the robot body and send it to the control device, and the thermal imaging sensor is used to sense the position of personnel located around the robot body and send it to the control device; the present application is not restricted by communication signals, and can automatically respond and search and rescue underground personnel as soon as an underground water disaster occurs, thereby improving the water disaster emergency rescue capability and increasing the survival rate of trapped personnel underground.

The invention relates to a data processing unit (20) for predicting a position (22) of a sea mine in a search area. The data processing unit (20) is designed to check, by means of a model (24) based on known positions (26) of sea mines in the search area, whether there are one or more further positions (22) in the search area at which there is a high probability that a sea mine is located.

Hull structure made of composite material that includes a hull with high thickness “single skin” monocoque plating without reinforcements and an internal stiffening structure (1) formed by a deck (2), two opposing transverse bulkheads (3) and more cradle-shaped load-bearing elements (5) to support components or machinery intended to be housed on board said hull structure. Advantageously, the above-mentioned cradle-shaped load-bearing elements (5) are supported at the respective internal portions of said opposite transverse bulkheads (3) only at their opposite head ends (5b).

A mine countermeasure device for disabling an undersea mine, and underwater transport, and methods therefor. The mine countermeasure device operates to mask, cancel or neutralise (detonate) the undersea mine. The mine countermeasure device is deployed, together with a plurality of other mine countermeasure devices from an underwater transport, for example autonomously. The underwater transport preferably carries out a scan of an area known to be mined, in order to identify undersea mines. The underwater transport is capable of autonomous operation over the horizon to deliver plurality of mine countermeasure devices. The mine countermeasure device targets particular sensors on the undersea mines.

The present application relates to the technical field of unmanned underwater vehicle, particularly relates to a multi-source detection and identification processing device. The present application comprises a pressure-resistant part and a non-pressure-resistant part, the pressure-resistant part comprises a pressure-resistant cabin body; the non-pressure-resistant part is arranged at the front end of the pressure-resistant cabin body; the non-pressure-resistant part comprises a blasting module, the blasting module is installed on the pressure-resistant cabin body in a radial sealing structure; the non-pressure-resistant part comprises a passive sonar transducer, which is located at the bottom of the blasting module, and the passive sonar transducer is installed on the pressure-resistant cabin body in a radial sealing structure; the pressure-resistant part comprises a passive sonar processor, which is communicatively connected with the passive sonar transducer through a signal cable, and completes underwater acoustic signal detection. Under the premise of realizing various functions, the present application optimizes the head line as much as possible, reduces the navigation resistance of the vehicle, and enables the vehicle to have the ability of active sonar detection, underwater acoustic signal detection, optical detection and identification, and spot blasting.

The invention relates to a minehunting system (20) for detecting sea mines (2) in a body of water. The minehunting system comprises a sonar system (12), which is designed to search the body of water for sea mines (2), and a control unit (26) for navigation of a watercraft (28). The control unit (26) is designed to navigate the watercraft (28) in an undulating movement (30, 30') through the body of water during the search for sea mines (2).

Embodiments of the present specification provide a hull-shaped unmanned submersible rescue robot for underground mines, comprising: a robot body; a sensing module; and a control device; wherein the sensing module is connected to the control device; wherein the control device is located in the robot body and is connected to a drive device of the robot body; wherein the sensing module comprises a pressure sensor and a thermal imaging sensor; wherein the pressure sensor is located at an outer bottom of the robot body, and the thermal imaging sensor is located at an outer sidewall of the robot body; wherein the pressure sensor is configured to sense a draft of the robot body and transmit the draft to the control device; and wherein the thermal imaging sensor is configured to sense a position of each individual around the robot body and transmit the position of each individual to the control device. The hull-shaped unmanned submersible rescue robot for underground mines according to the embodiments of the present disclosure is not limited by communication signals, is capable of automatically responding and searching for and rescuing personnel in the underground mines at the first time after a water inrush occurs in the underground mines, improves water inrush emergency rescue capability, and increases a survival probability of trapped individuals in the underground mines.

A method for explosive ordnance clearing, comprising transporting an explosive ordnance clearing device (20) to a close proximity of an explosive ordnance (10), wherein the explosive ordnance clearing device (20) comprises a clearing explosive (21), a detonator to detonate the clearing explosive (21), means (22, 32) for fuse ignition to ignite the detonator, and a first conductor (27, 37) connected to the means (22, 32) for fuse ignition, transporting one of an electric charge and a heat agent (44) to the close proximity of the explosive ordnance clearing device (20) with an ignition unmanned aerial vehicle (41), wherein the ignition unmanned aerial vehicle (41) comprises a second conductor (45, 48), bringing one of the electric charge and the heat agent (44) into connection with the second conductor (45, 48) to the first conductor (27, 37) for igniting the means (22, 32) for fuse ignition, and moving the ignition unmanned aerial vehicle (41) to a distance from the explosive ordnance (10).

Methods and apparatus for inspecting an underwater vehicle. In embodiments, a system receives a SAR image for at least a portion of an exterior surface of an underwater vehicle and performs CCD processing to compare a baseline SAS image for the underwater vehicle with the received SAR image of the underwater vehicle to generate a CCD output corresponding to a measure of similarity of the baseline SAS image and the received SAS image. The system determines whether there was tampering of the underwater vehicle based on the measure of similarity.

The subject of the invention is a device for destroying dangerous devices containing significant amounts of explosive material, in particular a sea mine.

An apparatus for disabling of motor vessels moving in a waterbody. An energetic (i.e. explosive), as part of a floating assembly, is brought into contact with a motorized marine vessel's propulsion unit(s) and / or steering system, referred to generally as the underwater drive unit, due to the vessel's own motion relative to a floating line. The energetic then detonates and disables the underwater drive unit, thereby halting progress of the vessel while not harming any occupants thereof.

A magnetic mine countermeasure payload device with a non-magnetic plate, and magnetic elements, each having a north magnetic pole and a south magnetic pole, affixed to the plate in a magnetic array. A rotational shaft is coupled to the plate, with a motor coupled to the shaft, and an electrical power source electrically connected to the motor. The motor is configured to at least one of selectively rotate the magnetic array, thereby creating an AC magnetic moment in the magnetic mine countermeasure payload device, and not rotate the magnetic array, thereby enabling a DC magnetic moment in the magnetic mine countermeasure payload device.

A ground control center plans a task according to information of a water area to be demined, after an unmanned ship deploys an unmanned underwater vehicle, the unmanned ship and the unmanned underwater vehicle perform cooperative detection, the unmanned ship and the unmanned underwater vehicle perform troubleshooting and mine identification through ship-borne and underwater vehicle-carried equipment, and through cooperative positioning and path planning, the unmanned ship and the unmanned underwater vehicle perform cooperative mining. And the unmanned underwater vehicle destroys the mine by using an underwater gun in a non-explosive manner, and finally confirms that the task is completed and returns. The method is high in safety, and casualties and secondary explosion are avoided; the mine clearing efficiency is high, and large-range searching and accurate clearing are achieved; the method is high in complex environment adaptability and accurate in positioning, and an efficient and reliable new scheme is provided for water area demining.

Some variations provide a cut-and-capture system configured for demilitarization of an underwater munition, comprising: a docking platform that is sealably positionable onto an underwater munition; a first manipulator arm to manipulate the docking platform onto the munition; a high-pressure waterjet cutting tool configured to be reversibly sealably placed into the docking platform; a washout tool configured to be reversibly sealably placed in the docking platform, wherein the washout tool generates waste from the munition; a bladder that stores munition waste; a second manipulator arm to manipulate the cutting tool and washout tool into the docking platform; an abrasive feed subsystem that delivers an abrasive to the cutting tool; and a system control module with electrical and hydraulic control hardware, to control the docking platform, cutting tool, abrasive feed subsystem, and washout tool. Other variations utilize a multifunctional device that contains the cutting tool, the washout tool, and other tools.

An unmanned surface vehicle (20) for deploying and / or retrieving a cable-connected, unmanned underwater vehicle (22) is disclosed. The unmanned surface vehicle comprises a winch (24) for rolling up and / or unrolling a connecting cable (26) for connecting the unmanned surface vehicle (20) to the cable-connected, unmanned underwater vehicle (22). The unmanned surface vehicle further comprises a deployment device (28) for deploying the cable-connected, unmanned underwater vehicle (22) from the unmanned surface vehicle (20) into the water (36) surrounding the unmanned surface vehicle (20) and / or a retrieval device (30) for retrieving the cable-connected, unmanned underwater vehicle (22) from the water surrounding the unmanned surface vehicle (20).

The invention relates to a mine-hunting system (20) having a first and a second unmanned underwater vehicle. The first underwater vehicle (22) is designed to travel on a predetermined course (32) to an object (34) in the water and, during travel, to generate a positional image (50) by means of a sonar system (122) and to identify the object (34). In order to generate the positional image, the first underwater vehicle has the sonar system (122), an orientation and position sensor system (124), and a signal processing unit (126). The sonar system (122) has an array of waterborne sound transducers having at least one first and one second waterborne sound transducer (54, 56), wherein the waterborne sound transducers of the array of waterborne sound transducers are each designed to convert waterborne sound (130) into a corresponding electrical signal (132). The orientation and position sensor system (124) is designed to continuously determine poses (134) of the first unmanned underwater vehicle (22). The signal processing unit (126) is designed to carry out direction formation on the basis of the electrical signals (132) of the waterborne sound transducers of the array of waterborne sound transducers in order to continuously determine the position of reflections (62) in the waterborne sound (130) using a current viewing direction of the sonar system (122) and the direction formation and the position data (134) of the first unmanned underwater vehicle (22), and to enter said position into the positional image such that a contour of the surroundings of the first unmanned underwater vehicle is represented in the positional image on the basis of the sum of reflections (62). The second unmanned underwater vehicle (24) is designed to travel on the predetermined course (32) to an object identified as a mine, wherein the second unmanned underwater vehicle (24) and / or a base station is designed to monitor a current course (32) of the second unmanned underwater vehicle on the basis of the positional image (50) of the first unmanned underwater vehicle and, if necessary, to adapt said course; - wherein the second unmanned underwater vehicle (24) is designed to render the mine harmless.

The present invention provides a seabed magnetic exploration device that can suppress the difference in distance from each magnetic sensor to the seabed. [Solution] A seabed magnetic exploration device for exploring hazardous materials on the seabed F by measuring the distance of multiple magnetic sensors 12 to 21 fixed to a frame 11 that moves underwater, spaced apart in the width direction W perpendicular to the direction of travel T of the frame 11, comprising: multiple transducers fixed to different locations in the width direction of the frame 11, each transmitting sound waves toward the seabed F and receiving reflected waves; distance derivation means for deriving the distance from each transducer to the seabed F based on the time difference from the transmission of sound waves to the reception of reflected waves of each transducer; and tilt adjustment means 25, 26, 27, 28 for adjusting the tilt of the frame 11 in the width direction.

Device for removing ammunition (2), whereby the device (1) comprises an inner bell (5) which consists of a chamber (6) that is open at the underside (6a) and closed at the top by means of a roof (7) and surrounded by a closed wall (8), whereby the device is further provided with means (14) to eject the water from the chamber (6) and a gripper arm (9), whereby the inner bell (5) is provided with overpressure valves (12) and whereby the device (1) is provided with a bigger outer bell (11) provided with overpressure valves (12) and whereby the overpressure valves (12) of the outer clock (11) are connected to a discharge pipe (13), whereby the closed wall (8) at the end (8a) on the level of the open underside (6a) is provided with a broadening (8b) towards the outer clock (11), that extends in the plane of the open underside (6a).