WO1999051995A2 - Systeme d'imagerie pour detecter des objets souterrains ou immerges, et procedes correspondants - Google Patents

Systeme d'imagerie pour detecter des objets souterrains ou immerges, et procedes correspondants Download PDF

Info

Publication number
WO1999051995A2
WO1999051995A2 PCT/US1999/005725 US9905725W WO9951995A2 WO 1999051995 A2 WO1999051995 A2 WO 1999051995A2 US 9905725 W US9905725 W US 9905725W WO 9951995 A2 WO9951995 A2 WO 9951995A2
Authority
WO
WIPO (PCT)
Prior art keywords
transducers
carrier
objects
acoustoelectric
sensors
Prior art date
Application number
PCT/US1999/005725
Other languages
English (en)
Other versions
WO1999051995A3 (fr
WO1999051995A9 (fr
Inventor
Peter J. Wilk
Original Assignee
Wilk Patent Development Corporation
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
Priority claimed from US09/040,094 external-priority patent/US5930199A/en
Priority claimed from US09/063,019 external-priority patent/US6002644A/en
Priority claimed from US09/112,487 external-priority patent/US6055212A/en
Priority claimed from US09/121,488 external-priority patent/US6055214A/en
Application filed by Wilk Patent Development Corporation filed Critical Wilk Patent Development Corporation
Priority to BR9908879-7A priority Critical patent/BR9908879A/pt
Priority to CA002324084A priority patent/CA2324084A1/fr
Priority to AU50787/99A priority patent/AU5078799A/en
Publication of WO1999051995A2 publication Critical patent/WO1999051995A2/fr
Publication of WO1999051995A3 publication Critical patent/WO1999051995A3/fr
Publication of WO1999051995A9 publication Critical patent/WO1999051995A9/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/003—Seismic data acquisition in general, e.g. survey design
    • G01V1/006—Seismic data acquisition in general, e.g. survey design generating single signals by using more than one generator, e.g. beam steering or focusing arrays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/16—Receiving elements for seismic signals; Arrangements or adaptations of receiving elements
    • G01V1/20—Arrangements of receiving elements, e.g. geophone pattern

Definitions

  • This invention relates to an imaging system utilizing sonic or ultrasonic pressure
  • this invention relates to such a system for use
  • This invention also relates to an associated method.
  • ferrous artifacts can be located in such conditions with
  • An object of the present invention is to provide an automated sensing system which
  • An associated object of the present invention is to provide such imaging system which
  • a further object of the present invention is to provide an associated imaging method
  • Another object of the present invention is to provide such an imaging system and/or
  • a more particular object of the present invention is to provide such a sensing system
  • Such imaging system preferably facilitates the detection of land mines.
  • imaging system preferably facilitates the detection of land mines.
  • identification of underground objects may be capable of determining the type of land
  • This information is useful in selecting a method of destroying detected land mines.
  • a further object of the present invention is to provide an associated imaging method
  • plurality of electromechanical transducers including at least one electroacoustic pressure wave
  • surface may be a land or ground surface or a water surface or, alternatively, the selected
  • surface may be an outer or upper surface of an object which is located underground or
  • the pressure wave generator is energized to produce an outgoing pressure wave
  • pressure waves are detecting which are reflected by hidden surfaces generally below the
  • the incoming pressure waves are
  • incoming reflected pressure waves are stored in a memory, which permits selection of
  • a selection function may be employed to view internal surfaces of detected objects
  • the stored three-dimensional shapes may be
  • land mines are buried in a land mass or located underwater. For example, land mines may be detected and identified, thereby facilitating selection of appropriate deactivation procedures.
  • the hidden objects are buried or sunken artifacts, the insides of the objects may be examined
  • the electromechanical transducers above the selected surface includes moving the carrier into
  • the carrier may be spaced from the selected surface, for
  • the selected surface is a surface of an underwater object or where the carrier is
  • the carrier may be placed in contact with the
  • selected surface for example, where the selected surface is a land surface of a certain variety.
  • the locations of the transducers are determined, in many application of the method, after the
  • locations of the transducers relative to one another includes analyzing pressure waves
  • transducers above the selected surface includes holding the carrier above and spaced from the
  • the carrier may be a frame or truss work extending
  • a land vehicle such as a tank or other all-terrain
  • the carrier or frame may be movably mounted to the land vehicle for varying the
  • land mines may be facilitated by varying the spacing between the carrier and the ground
  • electromechanical transducers above the selected surface includes moving the air-borne
  • the outgoing pressure wave has a plurality of
  • the different frequencies may be produced and emitted at different frequencies.
  • the different frequencies may be produced and emitted at different frequencies
  • electromechanical transducers for generating pressure waves, these transducers may be
  • transducer may be capable of producing pressure wave of different frequencies in a
  • Pressure waves of lower frequencies may be relied on in an initial scanning step to determine whether there are any
  • electromechanical transducers above the selected surface includes operating a remote control
  • the selected surface is a ground surface of a ground structure
  • the method may further
  • the transducer carrier may mounted to an air-borne
  • transducers above the ground structure includes moving the air-borne vehicle over a ground
  • a human operator and a video monitor may be located in the air-borne vehicle.
  • the operator and the monitor may be remotely located. In the latter case, the
  • implementation of the invention is enhanced in many cases by wetting the ground to facilitate transmission of the outgoing pressure wave and the incoming pressure waves through the
  • the method may further comprise
  • land mines may be marked and subsequently detonated.
  • the carrier vehicle may be marked and subsequently detonated.
  • the carrier vehicle may be marked and subsequently detonated.
  • a system for detecting objects such as land mines hidden underground comprises, in
  • a carrier movable over a land surface and a plurality of
  • electromechanical transducers mounted to the carrier, the electromechanical transducers
  • a source of alternating electrical current is operatively connected to the pressure
  • transducers relative to one another.
  • These components may be the carrier itself, in the
  • a wave analyzer is operatively connected to the sensor(s) for analyzing incoming pressure
  • a propulsion mechanism determines three-dimensional shapes of underground objects. Also, a propulsion mechanism
  • the carrier for detecting land mines may take the form of a flexible web. For instance,
  • the web may be a rubber blanket which is rolled out over or dragged along a ground surface to
  • the web may be the lower panel of a
  • the container holding a fluid medium.
  • the container may includes a substantially rigid upper
  • Another system for underground surveying comprises, in accordance with the present
  • frames carries at least one of the sensors, the sensors being disposable in effective physical
  • An acoustic energy generator is disposable in effective physical contact (pressure-wave-
  • componentry is operatively connected to the sensors for determining locations of the sensors
  • An electronic signal processor is operatively connected to the sensors
  • a video monitor is operatively connected to the processor
  • the system further comprises an
  • a-c current generator operatively connected to the electroacoustic transducer for energizing the
  • electroacoustic transducer with an electrical signal of a pre-established frequency, preferably an ultrasonic frequency.
  • a pre-established frequency preferably an ultrasonic frequency.
  • ground formation or underground structures are wet. Wet ground formations naturally occur
  • through the underground structures may be generated by an explosive device.
  • a method for underground surveying comprises, in accordance with the present
  • the disposing of the sensor array includes inserting the frames through a
  • the disposing of the sensor array includes disposing the frame members
  • the sensors are mounted to a carrier such as a fluid filled container, the
  • disposing of the sensor array includes disposing the container on the ground formation.
  • container may have a wedge shape with a first wall and a second wall disposed at an angle relative to one another.
  • the sensors are fixed to the second wall. In that case, the disposing
  • the of the sensor array includes disposing the first wall in contact with the formation and the
  • the container may be disposed in an
  • arcuate configuration e.g., a circle or a regular polygon, on the formation.
  • a liquid such as water may be introduced into the formation. This step is generally
  • ground formation is made of a dry material.
  • a system for surveying an underwater topography comprises, in accordance with the
  • an ultrasonic sensor array disposable in physical contact with a body of
  • the sensor array includes a plurality of electromechanical
  • transducers in turn including at least one electroacoustic transducer and one acoustoelectric
  • the transducers are disposed in a configuration extending in at least two
  • An a-c current generator is operatively connected to the electroacoustic
  • transducer for energizing the electroacoustic transducer with an electrical signal of a
  • Means are provided which operatively connected to the
  • a processor or computer is operatively connected to the sensor array for analyzing
  • transducers to determine surfaces of objects disposed at least partially in the body of water
  • a video monitor is operatively connected to the processing means for displaying the image of the objects.
  • underwater topography includes a carrier such as a net or a rigid frame structure, the
  • transducers being mounted to the carrier.
  • motive or propeller elements may be
  • motive or propeller elements may be activated to move the carrier and the entrained sensor
  • elements are optionally motor modules with wireless signal receivers for receiving
  • a ship or other vessel drags the carrier through the body of water, either along
  • electromechanical transducers include a plurality of electroacoustic signals
  • circuitry for energizing the
  • the processor is able to
  • electromechanical transducers include a plurality of acoustoelectric
  • circuitry for receiving
  • the processor processes multiple sets of incoming reflected pressure waves each associated with the particular sensor which detects the pressure waves. Again, the different
  • the sensor array includes multiple distributed
  • transducer position may be implemented simply in the case of a
  • the electromechanical transducers are mounted to the carrier so that
  • the transducers it is alternatively possible for the transducers to be disposed at variable
  • electroacoustic transducers or generators to the acoustoelectric sensors or receivers.
  • electromechanical transducers include a single electroacoustic transducer
  • the sensor array includes means for sampling
  • electromechanical transducers include a plurality of electroacoustic transducers and a single
  • the sensor array includes means for activating the electroacoustic
  • a method for surveying an underwater topography comprises, in accordance with the
  • the electrical signals are automatically analyzed to generate a video signal encoding an image
  • the video signal being fed to a video monitor to thereby display the objects on
  • body of water includes deploying a carrier in the body of water, the transducers all being
  • the method may further comprise operating motive or propulsion
  • motion may be translation parallel to an underwater surface or rotation to facilitate the
  • operating of the propulsion devices includes differentially operating the propulsion devices to
  • the method further comprises operating the propulsion
  • electromechanical transducers include a plurality of acoustoelectric sensors
  • the energizing of the transducers includes receiving signals from the sensors in a
  • transducers includes analyzing additional electrical signals generated by the sensors in
  • the analyzing of the electrical signals includes
  • invention facilitates detection of underwater objects, even when the ambient light levels are
  • a system for surveying an underwater topography comprises, in accordance with the
  • an ultrasonic sensor network disposable in physical contact with a body of
  • the sensor network includes a plurality of electromechanical
  • transducers in turn including at least one electroacoustic transducer and one acoustoelectric
  • the electromechanical transducers are disposed in an array which has at least two
  • An a-c current generator is operatively connected to the electroacoustic
  • transducer for energizing the electroacoustic transducer with an electrical signal of a
  • a position determination element is operatively
  • a processor is operatively connected to the sensor
  • electromechanical transducers to determine surfaces of objects disposed at least partially in
  • the processor includes pattern recognition circuitry for comparing the
  • the determined object surfaces as being consistent with a predetermined class of objects.
  • the system further comprises, in accordance with another aspect of the present
  • a position determination circuit operatively connected to the processor for determining locations of the determined object surfaces relative to a global frame of reference.
  • a recording component is operatively connected to the processor and the position
  • the recording component may include
  • the underwater sensor network includes a carrier, with the transducers being
  • the detection system further comprises one or more motors operatively
  • the motors may be any type of motor connected to the carrier for moving the carrier through the body of water.
  • the motors may be any type of motor connected to the carrier for moving the carrier through the body of water.
  • the motors may be any type of motor connected to the carrier for moving the carrier through the body of water.
  • the motors may be any type of motor connected to the carrier for moving the carrier through the body of water.
  • the motors may be any type of motor connected to the carrier for moving the carrier through the body of water.
  • the motor modules are provided with wireless signal receivers for receiving
  • the pattern recognition circuitry is operatively connected to the motor or motors for
  • the processor may be located on the carrier itself or on a vessel which is pulling the
  • the processor may be disposed at a more
  • the sensor network may be linked to
  • the various components of the processor including the analyzer, are realized in a general purpose computer by generic processing circuits configured by programmed
  • electromechanical transducers include a plurality of acoustoelectric
  • the underwater detection system furthermore than the transducers disposed in a predetermined array, the underwater detection system furthermore than the transducers disposed in a predetermined array, the underwater detection system furthermore than the transducers disposed in a predetermined array, the underwater detection system furthermore than the transducers disposed in a predetermined array, the underwater detection system furthermore than the transducers disposed in a predetermined array, the underwater detection system furthermore than the transducers disposed in a predetermined array, the underwater detection system further
  • array includes multiple distributed pressure wave generators and multiple distributed pressure
  • a method for surveying an underwater topography comprises, in accordance with the
  • the method further comprises a step of automatically analyzing the electrical
  • analyzing includes the step of comparing the determined object surfaces with a stored
  • Fig. 1 is partially a schematic perspective view, partly broken away, and partially a
  • transducer carriers or frames are transducer carriers or frames.
  • Fig. 2 is a schematic side elevational view of the system of Fig. 1, showing a
  • Fig. 3 is a block diagram showing selected components of a wave analyzer and a
  • Fig. 4 is a schematic perspective view of a modified transducer carrier or frame.
  • Fig. 5 is a schematic perspective view of another modified transducer carrier or frame.
  • Fig. 6 is a block diagram showing a specific variant of the system of Fig. 1.
  • Fig. 7 is a block diagram showing another variant of the system of Fig. 1.
  • Fig. 8 is a schematic perspective view of a system for underground surveying, in
  • Fig. 9 is a schematic perspective view of another system for underground surveying, in
  • Fig. 10 is a schematic perspective view of a transducer pad utilizable in an
  • Fig. 11 is a schematic perspective view of an alternatively inflatable and collapsible frame member utilizable in an underground surveying system.
  • Fig. 12 is a schematic perspective view of an underground surveying system utilizing
  • Fig. 13 is a schematic perspective view of another alternatively inflatable and
  • Fig. 14 is a view similar to Fig. 13, showing the frame member of in an expanded
  • Fig. 15 is a schematic perspective view of an underground surveying system utilizing
  • Fig. 16 is a schematic perspective view of a hand-held or hand-manipulable
  • Fig. 17 is a schematic perspective bottom view of a transducer carrier component
  • Fig. 18 is a schematic perspective bottom view showing a modification of the
  • Fig. 19 is a partial elevational view of another modification of the transducer carrier
  • Fig. 20 is a partial elevational view of yet another modification of the transducer
  • Fig. 21 is a schematic perspective view of transducer-carrying elements of a sonic
  • Fig. 22 is a schematic perspective view of transducer-carrying elements of another sonic and/or ultrasonic object detection system in accordance with the present invention.
  • Fig. 23 is a schematic perspective view of transducer-carrying elements of a further embodiment
  • Fig. 24 is a schematic perspective view of transducer-carrying elements of a modified
  • Fig. 25 is a schematic perspective view of transducer-carrying elements of yet another
  • Fig. 26 is a transducer-carrying pad and storage container of another sonic and/or
  • Fig. 27 is a schematic perspective view of transducer-carrying elements of yet another
  • Fig. 28 is a partially a schematic perspective view and partially a block diagram of a
  • Fig. 29 is a block diagram showing components of a processing system depicted in
  • Fig. 30 is a block diagram of a preliminary signal processing circuit illustrated in Fig.
  • Fig. 31 is a block diagram of an ultrasonic waveform generator shown in Fig. 29.
  • Fig. 32 is a block diagram of a digital-to-analog converter shown in Fig. 29.
  • Fig. 33 is a block diagram showing a specific variant of the system of Figs. 28 and 29.
  • Fig. 34 is a block diagram showing another variant of the system of Figs. 28 and 29.
  • Fig. 35 is a schematic perspective view of an ultrasonic pressure wave generating
  • Fig. 36 is a schematic perspective view of a carrier net and dedicated propeller units of
  • Fig. 37 is a schematic perspective view of a rigid carrier and dedicated propeller units
  • Fig. 38 is a schematic perspective view of another rigid carrier of transducers of an
  • Fig. 39 is a block diagram similar to Fig. 29 and containing additional elements of a
  • a system for underground surveying comprises a plurality of
  • substantially rigid frames 12 each carrying a plurality of electromechanical transducers 14 for
  • a lid surface 16 (see Fig. 2) and a body surface 18 of an object UO buried
  • Object UO might, for example, be a chest or an urn containing valuable
  • Each frame 12 carries at least one ultrasonic transducer 14. Upon an insertion of the
  • transducers 14 are disposed in physical contact with
  • underground structures 22 capable of transmitting ultrasonic pressure waves. As illustrated in
  • the underground structures 22 may include a plurality of geologic layers 22a, 22b and
  • underground structures incorporates significant quantities of water.
  • the underground structures incorporates significant quantities of water.
  • the mass may be a clay deposit, a marsh or a water-filled porous land mass.
  • the water may be present naturally or supplied to the land mass in order to carry out the ulfrasonic sensing
  • Transducers 14 include one or more electroacoustic transducers 26 and one or more
  • An a-c current or ultrasonic signal generator 30 is operatively connected to
  • electroacoustic transducers 26 for energizing the electroacoustic transducers with electrical
  • electroacoustic transducers 26 produce ultrasonic pressure waves in the underground
  • frames 12 are deployed at predetermined positions and at pre-established
  • a position determination circuit 32 (Fig. 3) is operatively connected
  • sensors or electromechanical fransducers 14 for determining locations of the sensors
  • the pressure waves are detected
  • Sensors 28 generate electrical signals having frequencies
  • Wave analyzer 38 includes position
  • Circuit 32 receives, via a lead or multiple 41 extending from analog-to-digital
  • transducers 14 are communicated by circuit 32 to a surfaces detector module 42.
  • Module 42
  • Time base 40 enables operation of
  • circuit 32 and module 42 are identical circuit 32 and module 42.
  • module 42 is connected at an output to an object construction
  • module 44 which analyzes the surface information from module 42 to determine whether a
  • Module 44 determines the
  • Module 44 is connected at outputs
  • view selector 48 provides
  • filter module 50 instructs video signal generator 46 to remove one or more surfaces from the image
  • Object construction module 44 is also connected at an output to an object identifier
  • circuit 54 which consults a memory 56 in a pattern recognition or comparison operation to
  • object identifier circuit 54 provides instructions to video signal generator for
  • the identification information is incorporated into the video signal.
  • Generator 46 is connected to a video monitor 58 for displaying the view-selected and
  • Preliminary signal processing circuit or wave analyzer 38 is operatively connected to
  • control unit 60 produces a control signal which determines, for example, the frequency of an outgoing
  • Signal generator 30 is
  • variable- frequency ultrasonic signal source and is connected to electroacoustic transducers
  • transducers 26 typically, the energization sequence of transducers 26 is pre-established and determined in part by the specific configurations of transducers 26 and sensors 28 on frames 12.
  • control unit 60 is connected to multiplexer or switching circuit 33 via a lead
  • connection sequence of sensors 28 is also pre-
  • control unit 60 controls the frequency or frequencies of actuation.
  • Detector module 42 utilizes that information to properly analyze the
  • module 42 to isolate, calculate and define surfaces of underground object UO, the detector
  • module may transmit a signal to control unit 60 to change the energization sequence of
  • transducers 26 and/or the energization frequencies are included in the transducers 26 and/or the energization frequencies.
  • frames 12 may be inserted into ground formations or
  • Figs. 4 and 5 depict alternative frames or transducer carriers 72 and 74.
  • alternative frames are provided with sharp end points 73 and 75 for facilitating the insertion of
  • frames 72 and 74 carry electromechanical transducers 76 and 78 which include
  • electroacoustic transducers (not separately designated) for generating outgoing pressure waves and acoustoelectric sensors (not individually labeled) for detecting incoming reflected or
  • circuits 62 and 33 may be implemented via wireless communications links or via wires.
  • Fig. 6 shows a specific configuration of an underground-topography imaging system
  • definition are accomplished mainly by varying the ultrasonic output frequency of the one
  • electroacoustic transducer and the sequence of signal transmission from acoustoelectric
  • Fig. 7 depicts a particular configuration of another underground-topography imaging
  • the liquid filled receptacle 80 disposable on a ground surface 82.
  • the liquid filled receptacle 80 disposable on a ground surface 82.
  • receptacle is disposed on the ground surface prior to being filled with liquid such as water
  • Supply 84 is connected to an inlet port 86 of receptacle 80.
  • a valve (not
  • receptacle 80 may be provided for regulating liquid flow to and from receptacle 80.
  • Receptacle 80 may take the form of a rubber or polymeric bag which may have a
  • an upper wall (not separately designated) of the receptacle is a rigid panel while the other walls of the receptacle are flexible, thereby
  • receptacle has a substantially rigid frame or support
  • a structure facilitates transport and relocation of the receptacle, for instance, by a helicopter, a
  • receptacle 80 Disposed on or inside receptacle 80 are a plurality of electromechanical transducers 88
  • transducers 90 are operatively connected in a predetermined sequence to signal generator 30
  • the digitized reflected pressure wave signals are processed by analyzer 38,
  • unit 60 may be implemented as generic computer circuits modified by special purpose
  • Reference numeral 94 designates a computer.
  • ground surface 82 As discussed above with reference to Figs. 1 and 2, ground surface 82, as well as
  • underlying subsurface structures may be wetted to facilitate the conduction of
  • receptacle 80 may be provided in a lower surface with
  • apertures 96 for enabling the passage of liquid from the receptacle onto ground surface 82 and
  • transducer-carrying frames 12 of Figs. 1 and 2 as well as the
  • receptacle 80 of Fig. 8 may be used where acoustic or pressure waves are generated by a
  • frames 12 in the embodiment of Fig. 1 may be provided with explosive charges.
  • the explosive charges may be
  • the explosive charges used in this process are of
  • Fig. 9 illustrates a frame or carrier in the form of a net 98 to which a plurality of
  • Transducers 100 include one or more
  • acoustoelectric sensors (not separately designated) and optionally includes one or more
  • Transducers 100 are adapted for
  • the type (frequency) of pressure waves being used in the transducers depends on the type (frequency) of pressure waves being used in the
  • Fig. 10 depicts a carrier pad 104 to which a plurality of electromechanical transducers
  • Pad 104 may be used with the circuitry illustrated, for example, in Fig. 8, to
  • ground structure being surveyed is wet, such as clay or marshland.
  • a ground structure may be
  • Fig. 11 shows a wedge-shaped frame 108 having a lower wall 110 and an upper wall
  • Frame 108 may be a balloon or container
  • a plurality of expanded frames 108 are disposed in
  • a predetermined configuration such as a circle, with a plurality of pads 104 being disposed on
  • Pads 104 are the upper walls 112 of frames 108 in pressure- wave-transmitting contact therewith. Pads 104
  • balloon 116 has an upper wall 118 and a lower wall 120 oriented at a wedge angle to one another in the expanded condition of the respective balloon or container.
  • balloon 116 is provided on upper wall 118 with a plurality of electromechanical transducers
  • the underground surveying equipment of Figs. 10-12 and Figs. 13-15 may use
  • waves are sonic waves of controlled frequencies generated by transducers.
  • the waves are sonic waves of controlled frequencies generated by transducers.
  • underground pressure waves may be generated by explosive devices.
  • explosive devices For example, an explosive
  • explosive device might be implanted below the surface within the circular configuration of
  • explosive device must be computer analyzed with Fourier transforms or other wave-
  • an explosive device will include sonic frequencies as well as ultrasonic and subsonic
  • Fig. 16 illustrates a hand-held or hand-manipulable device for conducting underground
  • a shaft 124 is provided at a lower end with a frame 126 carrying an array of
  • electromechanical pressure-wave transducers 128 (Fig. 17). As shown in Fig. 18, a flexible pad 130 filled with water or other liquid is attachable to the bottom side of frame 126 for
  • shaft 124 is provided with a handle 130 and a video display 132.
  • Alternative configurations are possible.
  • component 134 has a pyramidal or conical shape and is provided along sloped sides 136 with
  • a water filled pad 140 may be provided along
  • a frame or carrier 142 is ring
  • transducers 144 are shaped and has transducers 144.
  • transducers 148 is mounted to a land vehicle 150 via a pair of rigid arms 152 and a cable 154
  • Transducers 148 are operatively connected to signal generating components
  • the pressure waves generated by fransducers 148 may include sonic frequencies, as well as
  • frequencies may be produced in seriatim.
  • the apparatus of Fig. 21 is especially suited to detecting land mines along a road.
  • pair of frames 146 may be mounted to opposite sides of vehicle 150 for
  • a snaking search pattern utilizes the frame on the same side of the vehicle.
  • the mine is subsequently detonated by designated personnel.
  • Vehicle 150 may take a path around the detected land mine to continue the search along the
  • vehicle 150 may reverse itself to await destruction of the detected
  • vehicle 150 may be used itself to deposit an explosive device
  • the explosive device is detonated by remote control, once
  • vehicle 150 has removed itself to a safe location.
  • Arms 152 may be pivotably mounted to frame 146 and vehicle 150 for purposes of
  • Frame 158 is suspended by cables 160 from a helium- filled balloon 162.
  • Frame 158 and/or balloon 162 is provided with motors 164 and propellers 166 for changing
  • motors 164 are
  • a computer 168 remotely connected by a computer 168 transmitting instructions and control signals via a
  • wireless transceiver 170 Conventional means (not shown), wirelessly controlled by computer
  • Frame 158 carries a plurality of electromechanical fransducers 172 for generating
  • generators for energizing the outgoing wave generators may be mounted to frame 158 and
  • computer 168 may be
  • fransceiver 170 is used to fransmit instructions from an
  • object identifier 54 may be used to
  • memory 56 stores shape and size
  • Memory 56 may additionally store ancillary
  • detected land mines may be any type of land mines, if available. Accordingly, in some cases, detected land mines may be any type of land mines, if available. Accordingly, in some cases, detected land mines may be any type of land mines, if available. Accordingly, in some cases, detected land mines may be
  • obj ects are capable of determimng positions of detected underground objects with respect to a
  • the determined coordinates may be used as markers for enabling
  • Markers may also be physical indicators deposited on a ground surface for
  • Fig. 23 illustrates an alternative transport vehicle 174 in the form of a remote-
  • a framework 176 carrying fransducers 178 is suspended by cables 180
  • FIG. 24 depicts a scanning system wherein a frame 182 is suspended by cables 184 from a helicopter 186. Transducers 188 are mounted to frame 182.
  • a pad 190 to which a plurality of electromechanical fransducers 192 are attached.
  • remote-controlled robot 194 such as a miniature all-terrain vehicle is attached to one end of
  • robot 194 and pad 190 are sufficiently light weight to avoid
  • Pad 190 may be stored in
  • Robot 194 may be used to remove pad 190 from
  • such a container for example, by pulling and unrolling the pad at the onset of a scanning
  • transducers 192 have a density or spacing which facilitates
  • the fransducers located within two feet of the surface, the fransducers have a density greater than that
  • Transducers 192 are energizable with
  • Fig. 26 shows a flexible pad 196 which is stored in a wound-up configuration (not
  • Pad 196 carries a plurality of electromechanical transducers
  • a rod 202 may be used to
  • Rod 202 is further used to position pad 196 over a selected ground surface area.
  • markers 162 where an air-borne vehicle such as balloon 162, plane 174 or helicopter 186 is used, markers
  • a carrier 206 for electromechanical fransducers 208 may
  • a rigid panel 210 attached to an upper side or forming an upper wall of a flexible
  • Bag 212 may be filled with a fluid medium such as gel or water for purposes of
  • Carrier 206 is
  • an automatic engine or transmission shut-off may be provided for
  • a system for surveying an underwater topography comprises
  • an ultrasonic sensor array 312 disposable in physical contact with a body of water BW.
  • sensor array generates electrical signals encoding ultrasonic echo responses of underwater
  • Sensor array 312 includes a plurality of
  • Electromechanical transducers 314 exemplarily realized essentially by piezoelectric wafers.
  • Sensor array 312 further includes a carrier 316 such as a net. Carrier net 316 is towed through
  • telecommunications link 320 extends along tow line 318 and operatively connects transducers
  • Processing system 322 analyzes incoming electrical ulfrasonic
  • underwater topography including one or more of the underwater objects UO.
  • a monitor 346 for display of the image thereon.
  • Sensor array 312 and more particularly selected transducers 314 produce mechanical
  • the incoming pressure waves are converted by selected fransducers of
  • sensor array 312 into electrical signals transmitted over cable or wireless telecommunications
  • fransducers are disposed in a configuration
  • This configuration is determined in part by the
  • fransducers 314 include a plurality of pressure-wave-
  • Transducers or wave generators 328 are arranged
  • sensors 330 also have a two- or three-dimensional configuration.
  • An a-c current or waveform generator 332 is operatively connected to electroacoustic
  • Elecfroacoustic transducers 328 for energizing the elecfroacoustic fransducers 328 with an electrical signal of a pre-established ulfrasonic frequency. Elecfroacoustic transducers or wave generators 328
  • Acoustoelectric transducers or sensors 330 are operatively connected via cable or
  • Processor 334 may be implemented by a general purpose computer specially
  • Processor 334 includes, as
  • a preliminary signal processing circuit 338 which analyzes incoming signals
  • preliminary signal processing circuit 338 includes a circuit
  • Circuit 340 for determining the positions of fransducers 14 relative to one another. Circuit 340
  • Circuit 340 separates out those
  • Circuit 340 are communicated by circuit 340 to a surfaces detection circuit 342.
  • Circuit 342 analyzes
  • Circuit 342 determines the three-dimensional shapes
  • a time base 343 enables operation of circuits 340 and 342.
  • preliminary signal processing circuit 338 is operatively connected to a video signal generator 344. Partially in response to surface data from circuit
  • generator 344 produces a video signal encoding an image of an underwater topography
  • Generator 344 is connected to video monitor 46
  • Preliminary signal processing circuit 338 is operatively connected to waveform
  • Control unit 348 produces a control
  • Waveform generator 332 comprises a variable-frequency ultrasonic signal source 350 and a
  • multiplexer 352 as illustrated in Fig. 31.
  • Source 350 and multiplexer 352 receive control
  • Multiplexer 352 operates to
  • the energization sequence of transducers 328 is pre-established and determined in part by the
  • transducers 328 and transducers 330 on carrier 316 specific configurations of transducers 328 and transducers 330 on carrier 316. In many cases,
  • control unit 348 controls the frequency or frequencies of actuation to surfaces
  • Detection circuit 342 utilizes that information to properly analyze the
  • circuit 342 to isolate, calculate and define surfaces of underwater objects UO, the detection
  • circuit may transmit a signal to control unit 348 to change the energization sequence of
  • analog-to-digital converter 336 includes a multiplexer 358
  • Multiplexer 358 receives a switching confrol signal via a lead
  • Confrol unit 348 enables the decoding of incoming
  • surfaces detection circuit 342 may cause control unit 348 to vary the signal
  • Fig. 33 shows a specific configuration of an underwater-topography imaging system
  • Fig. 34 depicts a particular configuration of another underwater-topography imaging
  • an ultrasonic pressure wave generating and/or sensing unit 370 As shown in Fig. 35, an ultrasonic pressure wave generating and/or sensing unit 370
  • attachable, for instance, to a junction of different strands of carrier net 316 comprises a body
  • Each element 374 is associated with a respective piezoelectric
  • a single location on carrier net 316 may support a plurality of elecfroacoustic fransducers 328 and/or acoustoelectric fransducers 330.
  • carrier net 316 which carry one or more ultrasonic
  • a carrier net 376 for an ulfrasonic sensor array 378 may be
  • Units 380 are provided with a plurality of self-contained motive or propeller units 380.
  • Units 380 are
  • Steering vanes 384 and propellers 386 may be controlled from a remote location, for
  • a ship either via a signal transmission cable (not shown) or via wireless
  • Propeller units 380 are attached to carrier net 376 for applying a force thereto relative
  • carrier net 376 for example, below any surface wave action
  • carrier net 376 will change, as indicated in phantom lines at 388, to lift carrier net 376 towards
  • propeller units 380 can be differentially operated to translate carrier net 376 and the
  • carrier net 376 in a body of water
  • Fig. 37 depicts a carrier 390 of rigid frame construction. Fastened to carrier 390 are a
  • Carrier 390 may be
  • Auxiliary propeller units 396 may be tethered to carrier 390 for assisting the main propeller
  • unit 94 in orienting the carrier and in raising and lowering the carrier through a body of water.
  • ultrasonic pressure wave generating and/or sensing units 392 are
  • a processing system 322 (Fig. 28) via a cable or wireless transceiver
  • the determination of transducer position may be
  • electromechanical transducers 392 relative to one another.
  • Fig. 38 illustrates another fransducer carrier 406 of substantially rigid construction.
  • Carrier 406 includes a substantially cylindrical body 408 with a pair of stabilizers 410 and
  • Stabilizers 410 and 412 may be shiftable relative to body 408, by respective motors (not
  • Carrier 106 for facilitating the steering of carrier 106 through a body of water WB.
  • carrier body 416 are mounted to carrier body 416 and optionally stabilizers 410 and 412 for picking up
  • transmission line (not separately illustrated) extending along tension line 414 or a wireless
  • transmission link may be provided for carrying signals between transducers 418 and vessel
  • carrier 406 is provided with motors for shifting stabilizers 410 and 412, confrol
  • Carrier body 408 may be enclosed and define one or more internal chambers.
  • carrier body 408 may itself be a personnel-carrying submarine. In that event, a
  • propeller 420 is located at the rear end of the carrier body 408.
  • processor 334 includes a view selector module 398 which is
  • module 398 operates in response to instructions from a keyboard 400 or a mouse 402 to select
  • a user may induce a
  • processor 334 includes a filter stage or object removal
  • module 404 operatively connected to video monitor 346 for eliminating a selected object or
  • Modules 398 and 404 are incorporated into
  • processor 334 and are realized by generic computer circuits whose functions are determined
  • the sensor array is disposed in operative
  • the electrical signals are automatically analyzed to generate a video signal
  • the video signal being fed to a video monitor to thereby
  • Fig. 39 illustrates all of the elements shown in Fig. 29 and shows additional
  • a pattern recognition circuit or module 422 is operatively connected to preliminary signal processing
  • circuit 338 for purposes automatically analyzing the surface data from circuit 338 to identify
  • Pattern recognition circuit 422 consults a memory 424
  • memory 424 may vary, depending on the purposes of underwater searching. For example,
  • memory 424 contains encoded
  • memory 424 contains three-dimensional surface data describing the shapes of
  • underwater life forms which may include fish, mammals, crustaceans, jellyfish,
  • object removal module 404 filters out those objects which are not selected as
  • Object removal module 404 may also consult memory 424, either directly
  • keyboard 400 may be operatively connected to pattern recognition
  • circuit 422 for purposes of enabling user selection of object classes of interest during any
  • Processor 334 further includes a module 426 for determining a location relative to
  • This module receives input
  • a storage or recording device 428 such as
  • a printer and/or to memory 424 for purposes of recording the identity and location of any objects detected by pattern recognition circuit 422.
  • a manned or robotic vessel may be
  • pattern recognition circuit 422 is connected to motors
  • pattern recognition circuit 422 de-energizes motors 430, thereby maintaining the
  • Such protective devices could include chemical
  • the ultrasonic pressure waves may in
  • Sensor carriers 316, 376, 390, 406 may take various forms and shapes and may be
  • ancillary devices such as video cameras, manipulating arms, storage
  • processor 334 may be provided with programs for filtering out ultrasonic
  • An underwater imaging system as described hereinabove may be supplemented by an
  • acoustic lens (not illustrated) disposed between the sensor array and the underwater surfaces
  • a focusing acoustic lens may be formed by a lenticular volume with a
  • fresh water may be held in shape by a polymeric
  • the bag is filled under sufficient pressure to minimize rippling and
  • the bag may be advantageously strengthened by tensile fibers, and also provided
  • the lenticular shape may be the
  • the bag of the acoustic lens is attached to a rigid frame, which holds an
  • acoustic sensor array at a fixed stand-off distance and orientation with respect to the sensor
  • imaging software is modified to take the lens into account. In some cases
  • the sensor array functions like the photo-electric sensor array
  • exclusion means in a camera and the assemblage may be provided with acoustic "spotlight.”
  • the spotlight may be a broadband or narrow band acoustic source, advantageously adjustable
  • reflectance at different frequencies may be encoded in color at an output display
  • spotlight and the range of frequencies color encoded in a display, a skilled operator may
  • acoustic objects he may search for on a regular basis, e.g. a particular kind of archeological
  • a pair of such sensor systems may be
  • two sensor arrays spaced from one another along a baseline may provide
  • These two angularly differentiated images may be provided to respective eyes of a human
  • stereoscopic vision For instance, a human operator may be given access to stereoscopic
  • system may be composed of different collections of sensors disposed on the same rigid frame. In that case, there may be some overlap not only in the areas occupied by the two sensor
  • sensors to provide a baseline to establish different angular views.
  • phased sensor arrays In accordance with known phased array techniques, the phases of
  • waves may be varied to effectively simulate a change in physical orientation of a sensor
  • array including an array defined as a subset of all sensors on a rigid frame.
  • phase is also be taken into account in the analysis of
  • transducer assembly comprises a plurality of rigid frames or carriers each
  • frames or carriers may be determined by an ancillary detection system utilizing energy
  • optical radiation may be used to monitor the positions and orientations of
  • one frame is provided at a first
  • the optical sensor or receiver is connected to a
  • adjacent transducer-carrying frames enable an automatic determination of the six degrees of
  • pressure waves may measure the relative positions and orientations of multiple transducer-

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un procédé pour détecter des objets cachés, au moyen d'une pluralité de transducteurs électromécaniques comprenant au moins un générateur d'ondes de pression électro-acoustiques et au moins un détecteur acousto-électrique situés au-dessus d'une surface de terrain ou d'eau sélectionnée ou au-dessus d'une surface d'un objet souterrain ou immergé. Ce procédé s'utilise par conséquent pour détecter des objets souterrains ou immergés. Il consiste à déterminer l'emplacement des transducteurs les uns par rapport aux autres, à alimenter en courant le générateur d'ondes de pression pour produire une onde de pression sortante, et à transmettre cette dernière à travers la surface sélectionnée. Il consiste également à détecter les ondes de pression entrantes qui sont réfléchies par les surfaces cachées situées généralement sous la surface sélectionnée, en réponse à l'onde de pression sortante. Les ondes de surface entrantes sont analysées pour déterminer des formes tridimensionnelles d'objets cachés, situés sous la surface sélectionnée, qu'ils soient souterrains ou immergés. Différentes vues des objets cachés peuvent être affichées sur un écran de contrôle vidéo.
PCT/US1999/005725 1998-03-17 1999-03-12 Systeme d'imagerie pour detecter des objets souterrains ou immerges, et procedes correspondants WO1999051995A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
BR9908879-7A BR9908879A (pt) 1998-03-17 1999-03-12 Sistema de formação de imagem para detecção de objetos subterrâneos e sumarinos e método associado
CA002324084A CA2324084A1 (fr) 1998-03-17 1999-03-12 Systeme d'imagerie pour detecter des objets souterrains ou immerges, et procedes correspondants
AU50787/99A AU5078799A (en) 1998-03-17 1999-03-12 Imaging system for detecting underground and underwater objects and associated method

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
US09/040,094 1998-03-17
US09/040,094 US5930199A (en) 1998-03-17 1998-03-17 Imaging system and associated method for surveying underwater objects
US09/063,019 US6002644A (en) 1998-04-20 1998-04-20 Imaging system and associated method for surveying underwater objects
US09/063,019 1998-04-20
US09/112,487 1998-07-09
US09/112,487 US6055212A (en) 1998-07-09 1998-07-09 Ultrasonic imaging system and associated method
US09/121,488 1998-07-23
US09/121,488 US6055214A (en) 1998-07-23 1998-07-23 Imaging system for detecting underground objects and associated method

Publications (3)

Publication Number Publication Date
WO1999051995A2 true WO1999051995A2 (fr) 1999-10-14
WO1999051995A3 WO1999051995A3 (fr) 1999-12-02
WO1999051995A9 WO1999051995A9 (fr) 2000-01-13

Family

ID=27488642

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1999/005725 WO1999051995A2 (fr) 1998-03-17 1999-03-12 Systeme d'imagerie pour detecter des objets souterrains ou immerges, et procedes correspondants

Country Status (4)

Country Link
AU (1) AU5078799A (fr)
BR (1) BR9908879A (fr)
CA (1) CA2324084A1 (fr)
WO (1) WO1999051995A2 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001042815A1 (fr) * 1999-12-10 2001-06-14 Board Of Trustees Operating Michigan State University Reseau de capteurs sismiques
US6678403B1 (en) 2000-09-13 2004-01-13 Peter J. Wilk Method and apparatus for investigating integrity of structural member
EP3167313A4 (fr) * 2014-07-08 2018-07-04 Schlumberger Technology B.V. (STBV) Groupement de capteurs sismiques pliant multidimensionnel
CN112347594A (zh) * 2020-10-30 2021-02-09 南京大学 一种应用于自然通风隔声窗的宽带降噪结构及其设计方法
US11982781B2 (en) 2020-10-12 2024-05-14 Elbit Systems Cai And Cyber Ltd Seismic source for on the move seismic surveying

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3075949A1 (fr) 2017-09-22 2019-03-28 University Of Saskatchewan Procedes de detection d'un affaiblissement d'un pipeline

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3585577A (en) * 1969-06-12 1971-06-15 Southwest Res Inst Ultrasonic transceiver
US4197591A (en) * 1958-08-04 1980-04-08 Julius Hagemann Facsimile recording of sonic values of the ocean bottom
US4403311A (en) * 1980-03-21 1983-09-06 Thomson-Csf Acoustic imaging system
US4727329A (en) * 1986-02-19 1988-02-23 Atlantic Richfield Company Method and system for measuring displacement of buried fluid transmission pipelines
US5128904A (en) * 1991-10-11 1992-07-07 Western Atlas International, Inc. Method for estimating the location of a sensor relative to a seismic energy source
US5184330A (en) * 1991-06-25 1993-02-02 Techsonic Industries, Inc. Multi-beam sonar fish detection apparatus providing real-time three-dimensional wire-frame display representation
US5323683A (en) * 1991-10-31 1994-06-28 Etienne Lacroix Tous Artifices S.A. Systems including a deployable elongate pyrotechnical-function element
US5452639A (en) * 1992-12-16 1995-09-26 Tzn Forschungs- Und Entwicklungszentrum Unterluss Gmbh Arrangement for locating below-ground ammunition
FR2728354A1 (fr) * 1994-12-20 1996-06-21 Giat Ind Sa Procede de detection d'objets repartis dans une zone de terrain et dispositif mettant en oeuvre un tel procede
US5672825A (en) * 1994-10-05 1997-09-30 Kawasaki Jukogyo Kabushiki Kaisha Method and apparatus for detecting and discriminating objects under the ground

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4197591A (en) * 1958-08-04 1980-04-08 Julius Hagemann Facsimile recording of sonic values of the ocean bottom
US3585577A (en) * 1969-06-12 1971-06-15 Southwest Res Inst Ultrasonic transceiver
US4403311A (en) * 1980-03-21 1983-09-06 Thomson-Csf Acoustic imaging system
US4727329A (en) * 1986-02-19 1988-02-23 Atlantic Richfield Company Method and system for measuring displacement of buried fluid transmission pipelines
US5184330A (en) * 1991-06-25 1993-02-02 Techsonic Industries, Inc. Multi-beam sonar fish detection apparatus providing real-time three-dimensional wire-frame display representation
US5128904A (en) * 1991-10-11 1992-07-07 Western Atlas International, Inc. Method for estimating the location of a sensor relative to a seismic energy source
US5323683A (en) * 1991-10-31 1994-06-28 Etienne Lacroix Tous Artifices S.A. Systems including a deployable elongate pyrotechnical-function element
US5452639A (en) * 1992-12-16 1995-09-26 Tzn Forschungs- Und Entwicklungszentrum Unterluss Gmbh Arrangement for locating below-ground ammunition
US5672825A (en) * 1994-10-05 1997-09-30 Kawasaki Jukogyo Kabushiki Kaisha Method and apparatus for detecting and discriminating objects under the ground
FR2728354A1 (fr) * 1994-12-20 1996-06-21 Giat Ind Sa Procede de detection d'objets repartis dans une zone de terrain et dispositif mettant en oeuvre un tel procede
US5808969A (en) * 1994-12-20 1998-09-15 Giat Industries Method and device for detecting objects dispersed in an area of land

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001042815A1 (fr) * 1999-12-10 2001-06-14 Board Of Trustees Operating Michigan State University Reseau de capteurs sismiques
US6532190B2 (en) 1999-12-10 2003-03-11 Board Of Trustees Operating Michigan State University Seismic sensor array
US6678403B1 (en) 2000-09-13 2004-01-13 Peter J. Wilk Method and apparatus for investigating integrity of structural member
US6980688B2 (en) 2000-09-13 2005-12-27 Wilk Patent Development Corporation Method and apparatus for investigating integrity of structural member
EP3167313A4 (fr) * 2014-07-08 2018-07-04 Schlumberger Technology B.V. (STBV) Groupement de capteurs sismiques pliant multidimensionnel
US10345473B2 (en) * 2014-07-08 2019-07-09 Westerngeco L.L.C. Multi-dimensional folding seismic sensor array
US11982781B2 (en) 2020-10-12 2024-05-14 Elbit Systems Cai And Cyber Ltd Seismic source for on the move seismic surveying
CN112347594A (zh) * 2020-10-30 2021-02-09 南京大学 一种应用于自然通风隔声窗的宽带降噪结构及其设计方法

Also Published As

Publication number Publication date
CA2324084A1 (fr) 1999-10-14
AU5078799A (en) 1999-10-25
WO1999051995A3 (fr) 1999-12-02
WO1999051995A9 (fr) 2000-01-13
BR9908879A (pt) 2001-10-23

Similar Documents

Publication Publication Date Title
US6055214A (en) Imaging system for detecting underground objects and associated method
US11059552B2 (en) Deployment and retrieval of seismic autonomous underwater vehicles
EP2920613B1 (fr) Étude sismique marine et procédé utilisant des véhicules sous-marins autonomes et des bases sous-marines
US9081119B2 (en) Underseas seismic acquisition
Xiang et al. An experimental study on antipersonnel landmine detection using acoustic-to-seismic coupling
US6002644A (en) Imaging system and associated method for surveying underwater objects
EP2931599B1 (fr) Véhicule sous-marin autonome à auto-enfouissement et méthode de prospections sismiques marines
EP2384450B1 (fr) Procédé et dispositif améliorés pour la prospection sismique aquatique
US7496002B2 (en) Water submersible electronics assembly and methods of use
US20030218937A1 (en) Geophysical method and apparatus
US5978316A (en) Marine seismic source
US20130083622A1 (en) Underwater node for seismic surveys
US10120087B2 (en) Method and system with low-frequency seismic source
US5930199A (en) Imaging system and associated method for surveying underwater objects
US20130092469A1 (en) Systems and methods for producing directed seismic waves in water
KR101591741B1 (ko) 9채널 접이식 고정체 소형선박 3차원 탄성파탐사장치 및 그 방법
WO1999051995A2 (fr) Systeme d'imagerie pour detecter des objets souterrains ou immerges, et procedes correspondants
EP1504292A1 (fr) Procede de deploiement de materiel d'intervention sous-marine
US5128900A (en) Multi-component seismic vibratory source for use in marine environments
WO2012110096A1 (fr) Véhicule d'exploration marine
US5452266A (en) Submersible sensor system
Lathrop High area rate reconnaissance (HARR) and mine reconnaissance/hunter (MR/H) exploratory development programs
US6055212A (en) Ultrasonic imaging system and associated method
AU2003225332B2 (en) Method for deploying seafloor equipment

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CU CZ DE DK EE ES FI GB GE GH GM HR HU ID IL IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT UA UG UZ VN YU ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): GH GM KE LS MW SD SL SZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

AK Designated states

Kind code of ref document: A3

Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CU CZ DE DK EE ES FI GB GE GH GM HR HU ID IL IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT UA UG UZ VN YU ZW

AL Designated countries for regional patents

Kind code of ref document: A3

Designated state(s): GH GM KE LS MW SD SL SZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
AK Designated states

Kind code of ref document: C2

Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CU CZ DE DK EE ES FI GB GE GH GM HR HU ID IL IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT UA UG UZ VN YU ZW

AL Designated countries for regional patents

Kind code of ref document: C2

Designated state(s): GH GM KE LS MW SD SL SZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

COP Corrected version of pamphlet

Free format text: PAGES 1/13-13/13, DRAWINGS, REPLACED BY NEW PAGES 1/13-13/13; DUE TO LATE TRANSMITTAL BY THE RECEIVING OFFICE

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
ENP Entry into the national phase in:

Ref country code: CA

Ref document number: 2324084

Kind code of ref document: A

Format of ref document f/p: F

Ref document number: 2324084

Country of ref document: CA

NENP Non-entry into the national phase in:

Ref country code: KR

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

122 Ep: pct application non-entry in european phase