# US 10,502,828 B2 · System for detecting subsurface objects and unmanned surface vessel > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,502,828 B2 - Document ID: US10502828B2 - Status: Granted - Kind: B2 - Application number: 15/768,799 - Filed: 2016-10-24 - Published: 2018-10-25 - Granted: 2019-12-10 - Earliest claimed: 2015-11-04 - Assignees: Torbjoern Kronander; Martin Eronn - Applicants: Torbjoern Kronander; Martin Eronn - Inventors: Torbjoern Kronander - Web page: https://patentgrep.com/patent/US10502828B2 ## CPC - G01S 15/04: Systems determining presence of a target - G01S 7/003: {Transmission of data between radar, sonar or lidar systems and remote stations} - G01S 7/006: {using shared front-end circuitry, e.g. antennas (G01S13/765, G01S13/825 take precedence)} - G01S 15/89: for mapping or imaging - 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 ## Abstract The present disclosure relates to a system (300) for detecting subsurface objects within a confined sea area. The system comprises one or more surface vessels (301) and at least one control unit (302). Each surface vessel (301) comprises positioning means and is arranged to gather bathymetry measurements during controlled motion in a path within the confined sea area and to transmit the bathymetry measurements to the at least one control unit (302). The control unit (302) is arranged to receive bathymetry measurements from the one or more surface vessels (301). Each surface vessel (301) is unmanned and arranged to operate in an autonomous or remotely controlled state when gathering bathymetry measurements. The control unit (302) is arranged to retrieve bathymetry data representing said path from a memory in the control unit. The control unit (302) is further arranged to compare the received bathymetry measurements to the retrieved bathymetry data and to indicate a presence of a subsurface object upon determination of a deviation between received bathymetry measurements and retrieved bathymetry data for at least one geographical position along said path. The disclosure also relates to an unmanned surface vessel adapted to detect subsurface objects. ## Claims ### Claim 1 A system (200, 300, 400) for detecting subsurface objects within a confined sea area (A), the system comprising: one or more surface vessels (201, 301, 401); and at least one control unit (202, 302, 402), wherein: each surface vessel (201, 301, 401) comprises positioning means, collision detection means, and bathymetry measurement means and is arranged to gather bathymetry measurements during controlled motion in a path having an initial drive direction within the confined sea area (A) and to transmit the bathymetry measurements to the control unit (202, 302, 402), each surface vessel (201, 301, 401) is unmanned and arranged to operate in an autonomous or remotely controlled state during the controlled motion in the path when gathering bathymetry measurements, the at least one control unit (202, 302, 402) is arranged to receive, during the controlled motion in the path, bathymetry measurements from the one or more surface vessels (201, 301, 401), the collision detection means are arranged for detecting obstacles in the path during the controlled motion in the path, the at least one control unit (202, 302, 402) is arranged to retrieve bathymetry data representing said path from a memory in the control unit during the controlled motion in the path, the at least one control unit (202) is arranged to compare, during the controlled motion in the path, the received bathymetry measurements to the retrieved bathymetry data, the comparison conducted being an analysis of a measured depth relative to a reference depth for at least one geographical position along said path and within the confined sea area (A), the at least one control unit (202) is arranged to indicate, during the controlled motion in the path, a presence of a subsurface object based upon a determination, also during the controlled motion in the path, of a deviation between the received bathymetry measurements and the retrieved bathymetry data for the at least one geographical position along said path, the deviation representing a significant difference between the measured depth and the reference depth across one or more grid points within the confined sea area (A), and each surface vessel is arranged to autonomously adapt the path within the confined sea area (A) during the controlled motion in the path and upon detection of an obstacle, the adaptation of the path involving a rotational movement causing redirection of the surface vessel to a new drive direction angularly displaced from the initial drive direction of the path. ### Claim 2 (depends on 1) The system (200, 300, 400) according to claim 1, wherein the at least one control unit (202, 302, 402) is arranged to indicate presence of a subsurface object when the deviation between received bathymetry measurements and retrieved bathymetry data for the at least one geographical position along said path represents a reduced depth. ### Claim 3 (depends on 1) The system (200, 300, 400) according to claim 1, wherein the at least one control unit (202, 302, 402) is arranged to store the received bathymetry measurements in the memory as bathymetry data when detecting an initial absence of bathymetry data. ### Claim 4 (depends on 1) The system (200, 300, 400) of claim 1, wherein each surface vessel (201, 301, 401) comprises a control unit (202, 302, 402), each control unit (202, 302, 402) being arranged to receive bathymetry measurements from the surface vessel (201, 301, 401) in which it is comprised. ### Claim 5 (depends on 1) The system (200, 300, 400) of claim 1, wherein each surface vessel (201, 301, 401) comprises wireless communication equipment for device to device communication with other surface vessels. ### Claim 6 (depends on 5) The system (200, 300, 400) of claim 5, wherein: the control unit (202, 302, 402) is a remote control station provided at a distance from at least one surface vessel, and wireless communication equipment is arranged to enable device to device communication between at least one surface vessel and the remote control station. ### Claim 7 (depends on 1) The system (200, 300, 400) according to claim 1, wherein: each surface vessel (201, 301, 401) is arranged to receive or compute water level information relating to a water level of the confined sea area (A), and the at least one control unit (202, 302, 402) is further arranged to use the water level information to correct the received bathymetry measurement. ### Claim 8 (depends on 1) The system (200, 300, 400) of claim 1, wherein: each bathymetry measurement comprise position data, and the bathymetry measurements are gathered periodically based on a travelled distance or a travel time along the path. ### Claim 9 (depends on 1) The system (200, 300, 400) according to claim 1, wherein the one or more surface vessels (201, 301, 401) are a fleet comprising a plurality of surface vessels cooperating in the monitoring of the confined sea area. ### Claim 10 (depends on 1) The system (200, 300, 400) according to claim 1, wherein one of the one or more surface vessels comprises the control unit.