• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    System and method of neutralization of submarine mines. The present invention relates to a submarine mine neutralization system comprising: - two vehicles that perform search, location, transport and identification functions: these two vehicles are a search asv and an identification auv; - a set of drones comprising two vehicles for operations to neutralize submarine mines: these drones are a neutralization drone and a communications drone. The present invention also relates to a method for the neutralization of underwater mines, by means of the system described in the invention. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2558356A1
    申请号:ES201530812
    申请日:2015-06-10
    公开日:2016-02-03
    发明作者:Francisco Javier GILABERT CERVERA；Antonio GUERRERO GONZÁLEZ；Juan Carlos MOLINA MOLINA；Francisco Javier Ramírez Fernández；Cipriano Ramos Lage
    申请人:Universidad Politecnica de Cartagena；
    IPC主号:
    专利说明:

    SYSTEM AND METHOD OF NEUTRALIZATION OF UNDERWATER MINES Field of the Invention
    The present invention relates to a system and method of neutralization of underwater mines. State of the art
    In the operations of neutralization of submarine mines, the risk of serious affection of the operators involved in the neutralization scenario, whether machines or divers is high. During these operations, an enormous effort must be made to detect the presence of the underwater mine, mark it and identify it as such, since the underwater mine is normally hidden or camouflaged. These operations are carried out with complex and expensive sonar perception systems and underwater robots equipped with high performance technologies. It is therefore convenient to limit the degree of affection of these equipment when they perform the neutralization of an underwater mine.
    Underwater robots and new proposals for autonomous surface vehicles for the neutralization of underwater mines are especially important for the defense of a country as they are an essential tool for cleaning mined areas. The trend in MCM (Mine Action) systems is the automation of search and destruction of underwater mines by intensive use of robotic marine vehicles: ASV (Autonomous Surface Vehicles), UUV (Unmanned Underwater Vehicle), ROV (Remotely Operated Vehicle) and AUVs (Autonomous Underwater Vehicles). Some European navies have the TROIKA system, consisting of a nurse vehicle and drones based on ASV vehicles that make automated and precise sweeps of the areas of interest. At the Oceans2011 conference, G. Bruzzone exposes the use of an ASV for the detection of underwater mines, with which it precisely sweeps search areas - the system was tested on the island of Murter (Croatia).
    Several patents and products have been made on this technological area, although none of them includes the characteristics and functionalities proposed in the invention. The most relevant references are shown below: AU2013242588 discloses a neutralization system in which an autonomous ASV-type surface ship transports a UAV-type unmanned underwater vehicle equipped with explosive charges to destroy mines. The differences with the invention are important: in AU2013242588 the system consists only of 2 autonomous marine vehicles: one of the


    ASV type and another of the UUV type for mine neutralization, unlike the invention consisting of 4 marine robots. In addition, in AU2013242588 the UUV of neutralization performs the tasks of identification and neutralization of the mine which also differs from the invention where these tasks are separated on different underwater vehicles.
    US2008087186 discloses a neutralization system in which an autonomous submarine vehicle AUV transports another remotely controlled unmanned underwater vehicle; The submarine tandem moves to a previously located location and re-identifies the mine. Once done, drive the secondary submarine to the mine where it performs the detonation by remote control. The differences are important with respect to the invention, the system consists only of two underwater robots. The vehicles are of the AUV type, so in the surface operations base it has no real-time information on the operations that are being carried out on the mine. The system does not locate the mine, it goes to a previously determined marking. In addition, the primary submarine is not safeguarded, since it is at a distance from the umbilical cable of the detonation zone, so it could be affected by the effects of the explosion.
    US6738314 discloses a mine detection and neutralization system consisting of a teleoperated underwater vehicle and a dragged communications buoy that remains on the surface attached to the underwater vehicle by means of an umbilical cable. The buoy establishes a communications channel with the vessel from which the system was deployed, and from where the whole is monitored and controlled. The US6738314 system is deployed in the immediate vicinity of the mine, so it does not perform the search function over large areas of the sea. This US6738314 system has great differences with respect to the invention, it consists of a single ROV teleoperated underwater vehicle from the base, unlike the invention consisting of 4 robots. The ship operator is the one who performs the search and identification by teleoperating the vehicle. The surface element of US6738314 is a buoy dragged in contrast to the invention consisting of an autonomous surface vehicle capable of dynamically maintaining the GPS position of the neutralization drone, which is very important, since the neutralization drone is not dragged by the effects of waves on the surface vehicle. In the neutralization operation, the vehicle is destroyed with all the systems unlike the invention that proposes the protection of the identification systems. The system does not carry out a search operation, it is deployed on the vicinity of the mine, unlike the invention carried out by the search of the mine by means of an autonomous surface vehicle.


    ES2398769 A1 presents an autonomous underwater vehicle for transportation and operation of unmanned underwater vehicles. The proposed system is a generic autonomous vehicle for transport and operation of vehicles. There are many differences with respect to the invention, the most important being that it proposes a single autonomous underwater vehicle for generic applications and is not specialized in demining operations, unlike the invention, which is a system consisting of 4 marine robots for specific operations. of MCM.
    EP0547937 discloses a method for the destruction of underwater mines in which an underwater identification vehicle connected to a minesweeper vessel identifies and locates potential mines. This vehicle also carries an intermediate underwater device that deposits on the seabed and which launches a self-propelled explosive charge to destroy the mine, or in the case that it is a suspended underwater mine, a pyrotechnic charge to remove the cable and that the mine Underwater ascend to the surface. This system differs in many ways from the invention: It does not incorporate a mine search vehicle, this operation must be carried out previously by the ship from which the system is deployed. The intermediate vehicle is basically a device that is deposited at the bottom, in the invention an autonomous neutralization vehicle is proposed. In addition, the neutralization operation cannot be displayed in EP0547937 since the device deposited in the background is autonomous and is not connected by cable, which means that visual information cannot be transmitted in real time.
    US6854410 (B1) proposes two coupled unmanned underwater vehicles that are used for generic underwater research operations. One of the vehicles is the matrix and incorporates a docking system for the second vehicle. This set is quite different from the system of the invention, since it is only a system of two coupled unmanned underwater vehicles that can be used in generic underwater applications. Unlike the invention consisting of 4 marine vehicles each of them plays a specific role in the operation of neutralization of underwater mines.
    US3880103 proposes a system consisting of an underwater capsule dragged from a helicopter. The capsule incorporates a teleoperated underwater vehicle that is used for mine deactivation. The proposal of the invention is quite different from the invention, it consists of a single submarine that is deployed from a helicopter over the same mine, the


    submarine is deployed from an underwater capsule that is used to lift the submarine and transport it from the helicopter.
    US5370074 proposes an AUV vehicle based system with explosive charge that is directed from the mother ship to an underwater marking. The system consists of a single unmanned underwater vehicle that launches a marking determined by the mothership, identifies the mine and detonates the mine. This system is very different from the invention, it consists of a single underwater vehicle type AUV that carries out the identification and neutralization operations, unlike the invention consisting of 4 underwater vehicles. The search is carried out by the mothership, the AUV of US5370074, does not transfer visual information of the neutralization operation in real time.
    US6269763 proposes an autonomous vessel capable of carrying specific instruments for the mission and establishing remote communications. This system is very different from the invention, it is simply an autonomous vessel capable of transporting instruments for generic applications not specialized in MCM operations.
    As for vehicle manufacturers for MCM, Atlas Elektronnik, which has a family of unmanned vehicles for mine hunting, the SeaFox family, which are small unmanned underwater vehicles used for mine neutralization, identification and training, as well as SeaOtter MKII which is a multipurpose AUV, and the SeaCat which is an AUV / ROV hybrid. The Kongsberg company has underwater vehicles for MCM operations, which integrate the surveillance, recognition and neutralization operations of underwater mines, these are Hugin 1000, REMUS AUV and Minesniper. The company ECA-robotics has the K-STER equipment for the neutralization of mines. This equipment is a simple deployment vehicle that does not need dedicated platforms. For the detection and classification of mines, it has OLISTER equipment with two configurations; for the detection and later for the loading arrangement on the target mine. The Gaymarine company has a range of Pluto vehicles for the identification and neutralization of mines. All these systems are very different from the invention, they are solutions based on a single vehicle from which mine operations are carried out, but in no case do they propose the cooperative operation of 4 marine vehicles with specialized functions and with the aim of preserving perception equipment without losing effectiveness of the mine neutralization operation, while visualizing until the last moment the entire maneuver


    of neutralization of the underwater mine. Description of the invention
    A basic embodiment of the invention is defined in claims 1 and 6. The5 dependent claims define additional features of the invention.
    The system of the invention relates to a robotic system for intervention in missions of neutralization of underwater mines through the cooperative work of four vehicles, both underwater and surface. The system separates the operations of 10 location and identification of submarine objectives that involve the use of sophisticated and expensive perception equipment, of the neutralization operations in which vehicles can be greatly affected or slaughtered. For this, the location and identification of underwater objectives is carried out with vehicles equipped with complex sonar perception systems and high performance optical cameras that displace the
    15 submarine drone operations scenario where, once the rest of the vehicles are preserved, the neutralization submarine drones carry out said neutralization.
    This system provides great advantages over known systems:-On the one hand, more precision is achieved in identification operations, and also
    20 can observe the mine with new sophisticated and better performance equipment: since the location and identification vehicle will not be affected by a possible explosion during the neutralization operation, it can be equipped with more sophisticated devices; the location and identification vehicle does not deal with the neutralization operation, so there is a risk of being destroyed much less than a vehicle
    25 involved in the neutralization operation.
    - On the other hand, the neutralization drone is more efficient in neutralization, as it is a device intended solely for neutralization, specialized in this operation and equipped with an explosive charge and only with the necessary perception equipment in the neutralization maneuver, limiting in this way the cost of the equipment
    30 affected and therefore the cost of neutralizing an underwater mine.
    The highly automated system of the invention comprises four coordinated marine robots for the location, identification and neutralization of underwater mines. The system of the invention increases the effectiveness, efficiency and reduces the neutralization time of underwater mines. The system of the invention separates the functionalities of location, identification and neutralization of underwater mines in four marine robots of


    different characteristics specialized in specific aspects of the operations necessary to successfully carry out all the stages of the neutralization process of an underwater mine, from the location of a mine, through the identification of the mine, to the neutralization of the mine.
    The location is done from the surface with all the robots, the identification AUV, the communications drone and the neutralization drone integrated in an autonomous surface vehicle called ASV search. This search ASV performs long-term programmable paths over large areas of the sea.
    Once an objective is marked, the identification maneuver is carried out, for which a submarine vehicle that carries a set of drones for neutralization operations is deployed. This underwater vehicle called AUV identification, is equipped with high performance perception equipment such as subbottom sonars, image sonars and side scan sonar or synthetic aperture sonar, along with high performance optical cameras. The system is designed to preserve this expensive equipment in perception systems, for which, once the underwater mine has been identified, it deploys a set of drones formed by an underwater vehicle with an explosive charge, called a neutralization drone, and a surface vehicle, denominated communications drone, linked to the neutralization drone by means of an umbilical communication cable. The identification AUV is removed from the area of operations and integrated with the search ASV. The identification AUV and the search ASV move away from the area of operations. On the other hand, the communications drone is deployed and from the surface it establishes communication with a remote operator to whom it transmits the real-time visual information of the underwater mine captured by the neutralization drone. The remote operator directs the mine neutralization operation by detonating in a controlled manner the neutralization drone on the underwater mine. Description of the figures
    Figure 1 illustrates the system of the invention showing its main components.The numerical references of the elements of the invention are indicated below:ASV Search (1)Sonar equipment (11)AUV identification (2)First means of propulsion (21)Underwater Mine (100)


    Drone of neutralization (3)Second means of propulsion (31)Communications Drone (4)Third means of propulsion (41)
    5 Umbilical communication cable (34)Remote Operator (10)Umbilical Identification Cable (12) Detailed description of the invention
    10 The system includes: - two vehicles that perform the functions of search, location, transport and identification: these two vehicles are a search ASV (1) and an identification AUV (2);
    - a set of drones comprising two vehicles for the operations of neutralization of underwater mines (100): these drones are a neutralization drone (3) and a communications drone (4).
    The search ASV (1) is responsible for sweeping over large areas of the sea in search of possible objectives. The search ASV (1) has sonar equipment (11) for
    20 perform this task.
    The identification AUV (2) approaches the neutralization objective and identifies it.
    The neutralization drone (3) carries out the neutralization of the underwater mine (100).
    25 The neutralization drone (3) together with the communications drone (4) forms a set of drones (3, 4), where both drones (3, 4) are linked by an umbilical communication cable (34) that allows a direct communication between both drones (3, 4). It is desirable to have a permanent and direct communication link on the drone of
    30 neutralization (3), being able to have control of the communications drone set (4) neutralization drone (3) and vision of the objective in real time, since this is a requirement of the neutralization protocols of underwater mines (100). Each of the components that comprise the system has certain functions that are mentioned below:
    A) Search ASV (1), is an autonomous vessel - Surface Vehicle


    Autonomous (ASV) - which includes the following functions:
    - Find from the surface the objectives that could be underwater mines (100). The search is carried out over large areas of the sea following programmable paths;
    5 -Transport the entire formed system of which the vessel itself is part - along with the other three vehicles (2, 3, 4) - over large areas of sea and long periods of time;
    - Determine and mark possible underwater mines (100) with integrated perception systems on board; 10 -Command the deployment of the three integrated marine vehicles towards the
    target dialing; -Pick up the vehicles after the operation; -Supply power to the entire system; -Establish a communication link with a base of operations where there are
    15 a remote operator (10) on land or on a mothership;
    - Maintain the absolute position of the vessel dynamically during the entire deployment and collection maneuver of the robots; for this, the Search ASV (1) can have transverse propellers or other equivalent system that allow to maintain its position through a positioning system
    20 dynamic.
    B) Identification AUV (2), is an autonomous underwater vehicle (AUV in English). The identification AUV (2) performs the following functions: -Idently identifies underwater mines (100); -It moves to the marking indicated by the search ASV (1);
    25 -Communicates with the remote operator (10) through the search ASV (1), using an umbilical identification cable (12);
    - It obtains data from the underwater mine (100) through equipment integrated in the identification AUV (2). The equipment includes sonar perception equipment for obtaining sonar information that allows to identify and locate mines
    30 submarines, as well as cameras of optical vision that allow to obtain optical images of the underwater mines.
    - It transports to the set of drones (3, 4) that take part in the phases corresponding to the neutralization proper to the area of operations, the vicinity of the underwater mine (100);
    35 -Command the deployment of the drone assembly in the vicinity of the underwater mine.


    C) Drone of neutralization (3), is a Submarine Vehicle. It has the following functions: -Transmit the information of the optical vision cameras so that an operator
    remote (10) issue the order to neutralize the mine by displaying in time
    5 real the underwater mine (100). The neutralization drone (3) is linked by an umbilical communication cable (34) to the communications drone (4). The information is transmitted through the link with the communication drone (4) and the Search ASV (1);
    - Maintain your position in front of the underwater mine (100) while waiting for the order
    10 neutralization; -Adjust its position to find the best detonation position of the mine (100); -To carry out the controlled detonation of the underwater mine (100) when it receives the order from the remote operator (10). Integra explosive charge with which causes the detonation of the underwater mine (100) .;
    15 - Abort the neutralization operation at any time at the request of the remote operator (10). D) Communication drone (4), rises to the surface, from where it performs the following functions: - establishes a communication channel between the remote operator (10) and the drone of
    20 neutralization (3) through an umbilical communication cable (34) and the search ASV (1). Communicates with the remote operator (10) through a wireless communications link between the remote operator (10) and the search ASV (1); - allows the images perceived by the neutralization drone (3) to be
    25 transmit to the remote operator (10) of the system, and that the neutralization order from the remote operator (10) arrives safely until the neutralization drone (3). The main function of the communication drone (4) is to provide real-time communication of the visual and control information from the neutralization drone (3);
    30 -maintain absolute GPS positioning on the surface by dynamic positioning on the surface GPS marking of the underwater mine (100). Once the set of submarine drones (3, 4) is deployed in front of the underwater mine (100), the communications drone (4) ascends to the surface where it performs its function of channeling communications from and
    35 towards the neutralization drone (3).


    The sequence of operations to perform a neutralization operation of an underwater mine (100) comprises the following steps:
    I. The Search ASV (1) moves the entire system by sweeping over large
    5 sea and surface areas, since all vehicles (2, 3, 4) are integrated in the Search ASV (1). The offset occurs while the Search ASV (1) performs the search operations on the area of interest. The Search ASV (1) analyzes the areas of interest with sonar perception equipment of the Search ASV (1) in search of the presence of underwater mines (100).
    10 When it detects a possible underwater mine (100), it stops on the marking, performs dynamic positioning on the GPS marking and goes on to operation II.
    II. The Search ASV (1) sends the position of the marking to the robotic set (2, 3, 4) composed of the identification AUV (2) and the set of drones (3, 4). One time
    15 marked a potential target, the ASV Search (1) is positioned on the marking and launches the robotic set (2, 3, 4).
    III. The Identification AUV (2) in turn transports the set of drones (3, 4) composed of the neutralization drone (3) and the communications drone (4) to the 20 operations scenario. The identification AUV (2) moves to the immediate vicinity of the underwater mine (100), observes it with the perception equipment (cameras and sonars), sends all the information of its perception systems to the remote operator (10) through of the search ASV (1). It is verified if the objective is an underwater mine (100) and the definitive identification is made: if the marking is not a mine (100), the whole
    Robotic (2, 3, 4) returns to the search ASV (1) and retracts; if the marking is a mine (100), it goes to operation IV.
    IV. Once in front of the underwater mine (100) and determined and validated the objective with the perception systems of the identification AUV (2), the identification AUV (2) places 30 the set of drones (3, 4) in front of the Underwater mine (100) in the operating scenario. The identification AUV (2) searches for the ideal position to deposit the set of drones (3, 4) in front of the underwater mine (100). It then deploys the set of drones (3, 4) and the identification AUV (2) is removed from the operation scenario returning to the search ASV (1) where it is retracted. The ASV set of
    35 search (1) and identification AUV (2) are removed to a safe position.


    V. The set of drones (3, 4), maintaining its position, performs a visual control over the underwater mine, thus maintaining its relative position with respect to the mine (100). Next, the communications drone (4) rises to the surface and
    5 VI. The communications drone (4) establishes communications with the Search ASV (1) and a communication channel is established between the neutralization drone (3) and the command and control station where the remote operator (10) is. The neutralization drone (3) is positioned in front of the underwater mine (100) by performing visual control over the target while awaiting detonation instructions. The communications drone (4)
    10 remains in GPS marking by dynamically controlling this position. In this situation, the communications drone (4) transmits the direct vision images of the underwater mine (100) captured by the neutralization drone (3) to the command and control station where the remote operator (10) is. The visual information of the camera arrives in real time to the remote operator (10).
    15 neutralization of the underwater mine (100).
    VII. The remote operator (10) issues the intervention order under controlled conditions; The neutralization drone (3) activates its explosive charge, causing the detonation (neutralization) of the underwater mine (100).
    VIII. The communications drone issues its position for later collection.
    As previously mentioned, the drone set (3, 4) comprises the neutralization drone (3) and the communications drone (4). 25 • The two drones (3, 4) of the set are kept connected by umbilical communication cable (34).
    • The set of drones (3, 4) has the ability to deploy in depth from the vicinity of the underwater mine (100) keeping the neutralization drone (3) in the operating scenario, and making the communications drone
    30 (4) rise to the surface.
    • The communications drone (4) has mechanisms to ascend to the surface. Either based on positive buoyancy changes or based on propellers that propel it to the surface.
    • The communications drone (4) incorporates electronic communication systems
    35 wireless with which it establishes a communication channel with the control station where the remote operator (10) is through the Search ASV (1). He


    ASV Search (1) establishes a communications bridge between the neutralization drone (3) and the remote operator (10).
    • The communications drone (4) incorporates thrusters with which it maintains the GPS position dynamically on the surface marking of the mine
    5 submarine (100). The communications drone (4) incorporates controllers for position control that drive the thrusters for this purpose.
    • The neutralization drone (3) incorporates thrusters with which it maintains its position in front of the underwater mine (100). The neutralization drone (3) incorporates controllers for visual control of the robot with which to maintain the position and
    10 orientation in front of the underwater mine (100).
    In the system of the invention, the identification AUV (2): - includes mechanical, electrical, electronic elements that enable it to transport the folded set of drones (3, 4) to the operating stage;
    15 - includes mechanical, electrical, electronic and computer elements that enable it to navigate autonomously towards the target marking sent by the search ASV;
    - it includes high performance perception systems with acoustic sonar technology and optical vision cameras that allow it to make an accurate identification of the underwater mine (100);
    - it includes mechanical, electrical, electronic and computer elements that enable it to deploy autonomously from the search ASV (1) when it receives a commissioning order;
    - it includes mechanical, electrical, electronic and computer elements that enable it to fold back autonomously on the search ASV (1) when the operation ends; -comprises communication elements with the set of drones (3, 4) and transmit the position of the target underwater mine (100); - sends all the perception information generated in the vehicle to the remote operator 30 (10) located in the operations control station through an umbilical identification connection (12) with the search ASV (1); -It is energetically connected to the Search ASV (1) by means of umbilical identification connection (12).
    In the system of the invention, the Search ASV (1) comprises: -autonomous navigation systems that allow it to perform programmable sweeps of


    large areas of sea on which to conduct mine search operations. -Transverse propellers or similar propulsion systems that allow to maintain the position and orientation of the vehicle through dynamic positioning systems. 5 -mechanical, electrical and electronic elements that enable him to transport the entire robotic assembly formed by himself and the other 3 marine vehicles. - sonars devices integrated in the hull that enable it to determine and mark possible underwater mines. -channels of communication with the rest of the robotic set to carry out the 10 command and deployment of the 3 integrated marine vehicles towards the target marking. -channels of communication with the rest of the robotic set to carry out the collection of underwater vehicles after the operation. -electric power generation devices from renewable sources 15 (wind turbines and photovoltaic panels) that guarantees autonomous operation in long-term operations -Communication equipment that enables you to establish communications with the remote operating station.
    20 As can be seen in the description, the system and method separate the equipment and operations corresponding to the location and identification, from the equipment and operations corresponding to the neutralization. In this way, it is possible to safeguard the ASV Search robots (1), identification AUV (2) and communication drone (4). In the method of the invention, the identification AUV (2) and the communication drone (4) are retracted over
    25 Search ASV (1). The Search ASV (1), with the identification AUV (2) and the communication drone (4) folded over it, moves away from the neutralization zone.
    According to the invention, the neutralization drone (3) is a low cost slaughter drone, with explosive capable of causing the detonation of the underwater mine (100), under 30 controlled conditions.
    In accordance with what has been described, a first aspect of the invention relates to asubmarine mine neutralization system (100) comprising:1a) a remote operator (10) to order the neutralization of an underwater mine (100);
    35 1b) a search ASV (1) configured to scan a marine area in search of targets;


    1c) an identification AUV (2):1c1) configured to be transported in the search ASV (1);1c2) comprising first propulsion means (21);
    1d) a neutralization drone (3):
    5 1d1) configured to be transported in the identification AUV (2);1d2) comprising second propulsion means (31);1d23) configured to cause a detonation of the underwater mine (100);
    1e) a communications drone (4): 1e1) configured to be transported in the identification AUV (2); 10 1e2) comprising third means of propulsion (41); 1e4) configured to establish communication between the neutralization drone (3) and the remote operator (10).
    The first propulsion means (21) are configured to: 15 1c21) deploy the identification AUV (2) from the search ASV (1), when the search ASV (1) has located a target;
    1c22) approximate the identification AUV (2) to an objective for an identification of the objective between positive and negative where, a positive identification corresponds to an identification of an underwater mine (100);
    20 1c23) retract the identification AUV (2) to the search ASV (1) after the target identification.
    The second propulsion means (31) are configured to: 1d21) deploy the neutralization drone (3) from the identification AUV (2) in case of positive identification; 1d22) approximate the neutralization drone (3) to an underwater mine (100) for a neutralization of the underwater mine (100); 1d23) maintain a relative position and orientation of the neutralization drone (3) by visual control over the underwater mine (100).
    The third propulsion means (41) are configured to: 1e21) deploy the communications drone (4) from the identification AUV (2) in case of positive identification; 1e22) raise the communications drone (4) to a sea surface; 35 1e23) dynamically maintain a GPS marking.


    A second aspect of the invention relates to a method of neutralizing underwater mines (100) by means of the system described above, where the method comprises: 6a) sweeping a marine area in search of targets by means of a search ASV (1); 6b) transport an identification AUV (2) in the search ASV (1);
    5 6c) display the identification AUV (2) from the search ASV (1) when the search ASV (1) has located a target;
    6d) approximate the identification AUV (2) to an objective for an identification of the objective between positive and negative where, a positive identification corresponds to an identification of an underwater mine (100);
    10 6e) retract the identification AUV (2) to the search ASV (1) after identification of the
    objective; 6f) transport a neutralization drone (3) in the identification AUV (2); 6g) deploy the neutralization drone (3) from the identification AUV (2) in case of
    positive identification; 15 6h) approximate the neutralization drone (3) to an underwater mine (100) for a neutralization of the underwater mine (100); 6i) maintain a relative position and orientation of the neutralization drone (3) by visual control over the underwater mine (100); 6j) cause a detonation of the underwater mine (100) by means of the neutralization drone
    20 (3); 6k) transport a communications drone (4) in the identification AUV (2); 6l) deploy the communications drone (4) from the identification AUV (2) in case of
    positive identification; 6m) raise the communications drone (4) to a marine surface; 25 6n) establish a communication between the neutralization drone (3) and a remote operator
    (10); 6o) dynamically maintain a GPS marking; 6p) order the neutralization of the underwater mine (100) from the remote operator (10).
    According to other features of the invention: 2a) The search ASV (1) may comprise a sonar equipment (11). 3a) The submarine mine neutralization system (100) may comprise a cable
    Umbilical communication (34) between the neutralization drone (3) and the communications drone (4). 35 4a) The submarine mine neutralization system (100) may comprise an umbilical identification cable (12) between the search ASV (1) and the identification AUV


    (2).
    5a) The neutralization drone (3) may comprise an explosive charge configured to cause a detonation of the underwater mine (100).

    权利要求:
    Claims (3)
    [1]
    1. Neutralization system for underwater mines (100) characterized in that it comprises:
    1a) a remote operator (10) to order the neutralization of an underwater mine (100);5 1b) a search ASV (Autonomous Surface Vehicle)
    (1) configured to sweep over a marine area in search of objectives;
    1c) an AUV (Autonomous Underwater Vehicle) of
    identification (2):
    1c1) configured to be transported in the search ASV (1); 10 1c2) comprising first propulsion means (21);
    1d) a neutralization drone (3):
    1d1) configured to be transported in the identification AUV (2);
    1d2) comprising second propulsion means (31);
    1d3) configured to cause a detonation of the underwater mine (100); 15 1e) a communications drone (4):
    1e1) configured to be transported in the identification AUV (2);
    1e2) comprising third means of propulsion (41);
    1e4) configured to establish communication between the neutralization drone (3) and the
    remote operator (10).
    [2]
    2. Neutralization system for underwater mines (100) according to claim 1characterized by:2a) the search ASV (1) comprises a sonar equipment (11).
    A neutralization system for submarine mines (100) according to claim 1 characterized in that it comprises: 3a) an umbilical communication cable (34) between the neutralization drone (3) and the drone of
    communications (4).
    4. Neutralization system for submarine mines (100) according to claim 1 characterized in that it comprises: 4a) an umbilical identification cable (12) between the search ASV (1) and the AUV
    identification (2).
    5. Neutralization system for underwater mines (100) according to claim 1 characterized in that:

    5a) the neutralization drone (3) comprises an explosive charge configured to cause a detonation of the underwater mine (100).
    [6]
    6. Method of neutralization of underwater mines (100) by means of the system of any
    5 of claims 1-5 characterized in that it comprises: 6a) sweeping a marine area in search of targets by a search ASV (1); 6b) transport an identification AUV (2) in the search ASV (1); 6c) deploy the identification AUV (2) from the search ASV (1) when the ASV of
    search (1) has located a target;
    10 6d) approximate the identification AUV (2) to an objective for an identification of the objective between positive and negative where, a positive identification corresponds to an identification of an underwater mine (100);
    6e) withdraw the identification AUV (2) to the search ASV (1) after the objective identification; 15 6f) transport a neutralization drone (3) in the identification AUV (2); 6g) deploy the neutralization drone (3) from the identification AUV (2) in case of positive identification; 6h) approximate the neutralization drone (3) to an underwater mine (100) for a neutralization of the underwater mine (100); 20 6i) maintain a relative position and orientation of the neutralization drone (3) by visual control over the underwater mine (100); 6j) cause a detonation of the underwater mine (100) by means of the neutralization drone (3); 6k) transport a communications drone (4) in the identification AUV (2); 25 6l) deploy the communications drone (4) from the identification AUV (2) in case of
    positive identification; 6m) raise the communications drone (4) to a marine surface; 6n) establish a communication between the neutralization drone (3) and a remote operator
    (10); 30 6o) dynamically maintain a GPS marking; 6p) order the neutralization of the underwater mine (100) from the remote operator (10).

    FIG. one
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    引用文献:
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