EP2830934A1 - Underwater working system and method for operating an underwater working system - Google Patents
Underwater working system and method for operating an underwater working systemInfo
- Publication number
- EP2830934A1 EP2830934A1 EP13710283.6A EP13710283A EP2830934A1 EP 2830934 A1 EP2830934 A1 EP 2830934A1 EP 13710283 A EP13710283 A EP 13710283A EP 2830934 A1 EP2830934 A1 EP 2830934A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- underwater
- relay
- relay vehicle
- underwater vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 43
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 19
- 238000007667 floating Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 5
- 239000013307 optical fiber Substances 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 5
- 238000011156 evaluation Methods 0.000 description 3
- 238000011835 investigation Methods 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/42—Towed underwater vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Definitions
- the invention relates to an underwater working system with at least one autonomous underwater vehicle and an unmanned, floating on the water surface,
- a relay vehicle according to the preamble of claim 1.
- the invention also relates to a method of operating an underwater waterworking system, wherein at least one autonomous underwater vehicle communicates internally with an unmanned, floating and powered relay vehicle and externally communicates the relay vehicle via a radio antenna.
- Unmanned underwater vehicles provide a variety of underwater capabilities and can reach greater working depths than manned submersibles and operate in environments too dangerous for manned systems or divers. autonomous
- Autonomous Underwater Vehicles are self-powered and do not require communication with a human operator during a mission, rather they follow a predetermined mission program a mothership.
- the autonomous underwater vehicle is usually equipped with suitable sensors, for example
- autonomous underwater vehicles are advantageously used for cable and pipeline inspection or for mine search.
- a remote underwater vehicle In order to increase the range of data transmission to the mothership, a remote underwater vehicle (ROV) is known from JP 62008895 A an underwater work system in which a supply and control line of an unmanned remote controlled underwater vehicle (ROV) with a radio buoy floating on the water surface connected is.
- the radio buoy is equipped with a radio antenna and a receiving and transmitting unit.
- the underwater vehicle can be remotely controlled by the mothership via the radio link of the radio buoy and the supply line between the radio buoy and the underwater vehicle.
- the guided underwater vehicle By mediating the connection between mothership and the guided underwater vehicle via the radio buoy, the guided underwater vehicle in his local work space at a greater distance from the mothership work, as would be possible with a direct connection from the underwater vehicle to the mothership.
- WO 91/13800 discloses a system for
- Underwater exploration with autonomous underwater vehicles which are of identical construction and one each Internal combustion engine and an electric motor and a battery.
- One of the underwater vehicles is located on the water surface, with the internal combustion engine charging the battery.
- the subsurface underwater vehicle is in radio communication with a mothership.
- the other underwater vehicle works underwater and is powered by its electric motor.
- the two underwater vehicles communicate wirelessly via an acoustic or optical connection. Once the battery of the active submersible submersible is exhausted, the submersibles change places.
- the wireless connection transmits images from the active underwater vehicle to the mothership, first via the wireless connection to the surfaced underwater vehicle and then via the radio link of the submarine vessel that has appeared.
- the well-known underwater work system is intended for local investigation of the underwater world, for example, to explore a wreck.
- a large-scale reconnaissance under water for example, to clarify an underwater area in the context of mine control or for the inspection of long pipelines, the stationary operating known underwater work system is unsuitable.
- WO 2012/037174 A2 discloses a buoy and a system for monitoring divers and other underwater subjects.
- the buoy may monitor a diver and obtain position information about the diver and use that information to position themselves for further monitoring.
- the buoy may use an acoustic communication device to communicate with the diver and determine the diver position, biometric and other data.
- the buoy comprises a propulsion system and via an acoustic communication module, the diver can steer the buoy to an effective range.
- the only acoustic communication is mandatory, as a possible physical connection, for example by means of a rope or hose for reasons of risk is not allowed.
- a data transmission rate is limited by the acoustic communication, so that a real-time can not be guaranteed.
- the present invention is based on the problem to provide an underwater work system with at least one autonomous unmanned underwater vehicle and an unmanned, floating on the water surface relay vehicle and a method of operating such a Unterwasserarbeitssystems, which increased performance of the large-scale underwater reconnaissance with short
- an underwater work system with at least one autonomous unmanned underwater vehicle and an unmanned, floating on the water surface relay vehicle having a radio antenna for external communication and a drive, wherein the autonomous unmanned underwater vehicle physically connected via a coupling connection with the relay vehicle is, wherein the coupling connection comprises an internal communication device or the coupling connection is part of the communication device, and the relay vehicle, the autonomous underwater vehicle and / or the coupling connection are configured such that the relay vehicle by means of a control unit, in particular taking into account Navigation information, about the autonomous
- data can be transmitted bidirectionally between the relay vehicle and the underwater vehicle at higher data rates than in an acoustic data transmission.
- an acoustics-free communication or data transmission can be provided.
- Coupling connection can be made by a hose or a cable. Physically is to be understood in particular as a contrast to radio or sound.
- the underwater vehicle can be accessed physically at any time, so that in "loss" of the underwater vehicle consuming search maneuvers of
- Relay vehicle can be omitted.
- the unmanned relay vehicle floating on the water surface is guided by a control unit taking into account navigation information about the at least one autonomous unmanned underwater vehicle, whereby the autonomous unmanned underwater vehicle can operate under water with virtually unlimited range.
- the control unit can determine a course for the relay vehicle and can control its drive accordingly, so that the vehicles of the underwater work system are always in a desired position relative to each other.
- the relay vehicle and the at least one associated underwater vehicle thus form in particular an autonomous underwater work system, which are navigated as an autonomous group.
- the unmanned underwater vehicle detected during the mission by the sensors of the autonomous underwater vehicle
- Underwater vehicle is to understand information about the driving behavior and the position of the autonomous unmanned underwater vehicle, such as the absolute speed, the speed over ground, the orientation of the underwater vehicle, the depth and distance from the relay vehicle and / or also
- navigation information which are detected by navigation sensors of the submerged autonomous underwater vehicle and fed to the control unit.
- Navigation information about the relay vehicle and also the autonomous underwater vehicle can be detected by sensors on board the relay vehicle and used for the navigation.
- control unit which leads the relay vehicle, arranged on board the relay vehicle, wherein the detected in the submerged vehicle navigation information is communicated via the internal communication device to the relay vehicle.
- control device arranged on board the autonomous underwater vehicle, wherein control commands for driving the relay vehicle are conducted via the internal communication device.
- the arrangement of the control unit, which controls the relay vehicle, on board the relay vehicle has the advantage that on board the floating relay vehicle basically more space for a powerful control unit is available.
- the arrangement of power-consuming systems that process information from and for the autonomous underwater vehicle on board the relay vehicle reduces the energy requirements of the underwater vehicle.
- the control unit determines, taking into account the navigation information of all those involved
- Underwater vehicles a course for the relay vehicle, in which an optimal positioning of the relay vehicle is given relative to the connected underwater vehicles.
- the communication device is designed such that it is truly time-capable. Real time capability is given in particular when the propagation speed of the transmission is greater than in an acoustic communication. Especially
- Propagation speeds above 2000m per second are included.
- real-time capability is ensured if sonar information can be transmitted below the repetition rates of the sonar to the relay vehicle.
- a control unit of the relay vehicle and a control unit of the autonomous underwater vehicle are designed such that via the internal communication device
- Navigation information in the direction of the relay vehicle and in the other direction control commands for the underwater vehicle is interchangeable.
- the underwater work system according to the invention can be directly controlled by a human operator as needed, if desired.
- the underwater work system with the possibility of continuous information transfer in both directions between the underwater vehicle and a carrier platform allows monitoring of the autonomously operating underwater work system, whereby a control intervention by the operator can take place at any time ("supervised autonomous system".)
- the supervised autonomous underwater work system is reduced the mission time and increases the effectiveness of the mission by allowing an operator to recognize when the underwater vehicle has followed a wrong lane, in which case control of the autonomous mission program will prevent the loss of mission time, which will result in non-targeting of the underwater vehicle an error-based investigation would result.
- information about its instantaneous position is advantageously forwarded to the underwater vehicle.
- Reliable information about the position is available in the relay vehicle, which can obtain exact position data via its radio antenna, for example by GPS.
- the autonomous underwater vehicle can be informed of this position of the relay vehicle determined by GPS, so that the underwater vehicle with the knowledge of the position of the Relay vehicle navigates.
- a processing of the GPS data on board the relay vehicle and the underwater vehicle taking into account the available in the relay vehicle
- Navigation information of the underwater vehicle is communicated the exact position.
- the internal communication device comprises an optical fiber cable which connects the relay vehicle to the underwater vehicle.
- the fiber-optic cable enables powerful data transmission.
- the control unit of the relay vehicle guides the relay vehicle in consideration of navigation information of the autonomous underwater vehicle such that a tensile load on the optical fiber cable is avoided. It may be advantageous if the control unit, which carries the relay vehicle, can rely on information about the tensile load in the optical fiber cable and controls the relay vehicle according to excessive tensile load. For this purpose, a device for measuring the tensile load can be assigned to the optical waveguide cable.
- the relay vehicle is tracked to the underwater vehicle, whereby the tensile load of the optical fiber cable is reduced or excluded.
- the relay vehicle is controlled with the same course as the underwater vehicle whose course results from the transmitted navigation information.
- the relay vehicle has means for determining the distance of the underwater vehicle from the relay vehicle.
- Relay vehicle is based on the navigation information of the underwater vehicle, which during the mission can be delivered from the underwater vehicle, and guided the current distance.
- the navigation information of the underwater vehicle and the knowledge of the distance, the actual position of the underwater vehicle can be clearly determined and the course of the relay vehicle optimally tuned, for example, the relay vehicle
- Underwater vehicle and the relay vehicle by means of an acoustic transmission head ("pinger") detected.
- the underwater vehicle and / or the relay vehicle on an acoustic transmission head For this purpose, the underwater vehicle and / or the relay vehicle on an acoustic transmission head.
- the navigation of the underwater vehicle is supported or adopted by the control unit of the relay vehicle, whereby the required computing capacity of the control unit on board the underwater vehicle and thus the power requirements of the underwater vehicle are reduced.
- the relay vehicle has a sonar connected to its control unit, that is to say devices suitable for locating objects in space and under water by means of emitted sound pulses.
- the control unit is designed such that evasion maneuvers can be controlled when obstacles are detected by the sonar.
- the control unit of the relay vehicle detects obstacles in the course of the relay vehicle via the sonar and initiates evasive maneuvers, for example by passing the obstacle sideways.
- the relay vehicle is designed submersible, whereby the relay vehicle, if necessary, a very wide Dodge object, such as a driving net, by diving in and driving under the obstacle.
- the relay vehicle comprises a data processing device to which information can be input from the underwater vehicle.
- a preprocessing takes place on board the relay vehicle before the information about the carrier platform is transmitted.
- the relay vehicle comprises a coding device, by means of which the information to be transmitted or received via the radio antenna can be coded or decoded. The information that transmits the underwater vehicle internally to the relay vehicle is pre-processed before the external communication according to predetermined data processing criteria.
- Such information which is not required or desirable for the monitoring of the underwater work system or the mission of the autonomous underwater vehicle by an operator, is particularly advantageously stored on board the relay vehicle. This information may be read after completion of the mission and salvage of the submersible and, in an advantageous embodiment, will be maintained by radio during the mission on-demand call.
- a method of operating an underwater workstation wherein at least one autonomous, unmanned underwater vehicle communicates internally with an unmanned, floating and powered relay vehicle, the relay vehicle being external via a radio antenna communicates, characterized in that a control unit, the relay vehicle taking into account
- Navigation information about the at least one autonomous unmanned underwater vehicle leads.
- control unit tracks the relay vehicle to the underwater vehicle.
- the relay vehicle may be guided on the basis of the navigation information of the underwater vehicle and the current distance between the underwater vehicle and the relay vehicle, the distance being detected in particular by means of an acoustic transmission head on the underwater vehicle and / or on the relay vehicle.
- the navigation of the underwater vehicle is controlled by a control unit of the
- the information transmitted internally by the underwater vehicle to the relay vehicle can be preprocessed according to predetermined criteria, in particular partially stored and partially transmitted.
- control unit (16) of the relay vehicle (4) detects obstacles (20) in the course of the relay vehicle (4) via a sonar (19) and initiates an evasive maneuver by passing the obstacle (20) sideways and / or Entering and going under the obstacle (20).
- Fig. 2 is a diagram for communication between the
- FIG. 1 shows an underwater working system 1 with an autonomous unmanned underwater vehicle 2 and an unmanned relay vehicle 4 floating on the water surface 3.
- the relay vehicle 4 has a radio antenna 5 via which the relay vehicle 4 communicates with a carrier platform.
- the carrier platform is a seagoing vessel 6, which likewise carries a radio antenna 7 for communication with the underwater workstation 1.
- a control console on land or another manned carrier platform can be provided, from which human operators can communicate with the underwater workstation 1 by radio connection even from a greater distance to the relay vehicle 4.
- Underwater vehicle 2 is via an internal
- the communication device connected to the relay vehicle 4, wherein the term "internally” refers to the communication within the underwater work system 1 !.
- the communication device comprises both the relay vehicle 4 and the underwater vehicle 2 each have a device for transmitting and receiving data and in the embodiment, a fiber optic cable 8.
- the optical fiber cable 8 connects the relay vehicle 4 with the underwater vehicle 2 and connects arranged in the respective vehicles facilities for Sending and receiving information.
- the relay vehicle 4 mediates communication between the ship and the submerged ship Underwater vehicle 2 during the mission.
- mission information 9 is transmitted from the autonomously operating underwater vehicle 2 via the optical waveguide cable 8 and the radio link of the relay vehicle 4 to the mother ship 6 in real time during the mission.
- the underwater vehicle 2 is equipped with a camera 10 and other sensors for detecting its environment, in the exemplary embodiment a sonar 11, whose continuously acquired data are transmitted as part of the mission information 9 via the optical fiber cable 8 to the relay vehicle 4.
- the underwater vehicle 2 further comprises navigation sensors 12, which are input to a control unit 13 of the underwater vehicle 2 and are based on the autonomous navigation of the underwater vehicle 2.
- the autonomous unmanned underwater vehicle 2 follows a predetermined mission program and can operate under the guidance of its control unit 13 independently in the underwater area. However, via the radio antenna 5 of the relay vehicle 4, an operator of the underwater work system 1 can supply control information 14, which is forwarded by the relay vehicle 4 via the optical waveguide cable 8 to the underwater vehicle 2.
- the Unterwasserariassysteml can thus work autonomously, but it is constantly monitored by the external communication with the ship 6. In this case, an operator of the underwater work system can always take control of the unmanned underwater vehicle. This is particularly advantageous when monitoring of the underwater workstation 1 proves that the underwater vehicle 2 has been subject to an error based on the given autonomous mission program, for example, has erroneously detected or identified an underwater object.
- the underwater vehicle control information 14 does not include only the human operator Control commands, but also other information which is prepared on the relay vehicle 4 for use on the autonomous underwater vehicle, in particular information for navigation.
- a regular transmission of position information is advantageous, which is available on board the relay vehicle 4 and, for example, very accurately determined by GPS via the radio antenna 5.
- the relay vehicle 4 is designed as a surface vessel to constantly maintain radio contact with the carrier platform and has a drive 15.
- the relay vehicle 4 further comprises a control unit 16 which guides the relay vehicle 4 and drives the drive 15 according to the intended course and speed. In the guidance of the relay vehicle 4, the control unit 16 takes into account navigation information about the autonomous
- Information about the underwater vehicle 2 can be determined by sensors on board the relay vehicle 4.
- locating means are provided on board the relay vehicle 4 in an advantageous embodiment.
- an acoustic transmission head 18 is arranged on one of the two vehicles
- the acoustic transmission head 18 is arranged on the unmanned underwater vehicle 2, so that the distance determination and the required
- the relay vehicle 4 can be done. On board the underwater vehicle 2 must therefore no additional energy is provided for the distance determination, which is basically limited on board the autonomous underwater vehicle.
- the relay vehicle 4 also has a sonar 19 in its bow area, with the driving in the water obstacles 20 can be detected in good time. If an obstacle in the course of the relay vehicle 4 is detected during the evaluation of the signals of the sonar 19, the control unit 16 initiates a corresponding avoidance maneuver by passing sideways or causes the relay vehicle 4 to descend and drive under the obstacle 20.
- the relay vehicle 4 is in shown embodiment designed for short-term diving maneuvers. In a further embodiment, the relay vehicle is 4
- the control unit 16 determines the course of the relay vehicle 4 after evaluation of the navigation information of the unmanned underwater vehicle such that the distance between the two vehicles does not exceed predetermined limits.
- the control unit 16 determines the course of the relay vehicle 4 such that the relay vehicle 4 is tracked to the underwater vehicle 2. If an excessively large distance is determined when determining the distance between the relay vehicle 4 and the underwater vehicle 2, the control unit determines a new course with which the relay vehicle 4 tracks the underwater vehicle 2.
- the underwater vehicle 2 can thus operate autonomously, while the relay vehicle 4 is tracked on the water surface 3 and always maintains the external communication of the underwater work system 1 with the seagoing ship 6.
- Optical fiber cable 8 according to FIG. 1, is received from the control unit 13 of the underwater vehicle 2
- Mission information 9 which is taken during the mission of the camera 10 and other sensors for detecting the environment. With the mission information 9 transmitted in real time, the control unit 13 transmits navigation information 17 via the autonomous
- the navigation information 17 may include both raw data of the navigation sensors 12 of the underwater vehicle 2 as well as already prepared navigation information, the control unit 13 of the underwater vehicle 2 for their own autonomous navigation during the mission from the raw data of the navigation sensors 12th has available.
- the navigation information 17 transmitted to the relay vehicle may also be a combination of raw data and navigation information already determined in the underwater vehicle.
- the control unit 13 of the underwater vehicle 2 is linked to the control unit 16 of the relay vehicle 4 in such a way that the navigation of the underwater vehicle 2 is supported or taken over by the control unit 16 of the relay vehicle 4.
- Underwater vehicle 2 transmitted directly to the control unit 16 of the relay vehicle 4.
- the control unit 16 of the relay vehicle 4 after evaluating the incoming navigation information 17, sends the control unit 13 of the underwater vehicle corresponding control information 14.
- the relay vehicle 4 receives corresponding commands via the radio link and forwards corresponding control information 14 to the control unit 13 of the underwater vehicle 2 ,
- the control unit 16 determines from an evaluation of the ping signal of the acoustic transmitting head 18 (FIG. 1) of the underwater vehicle 2 the distance of the underwater vehicle 2 from the relay vehicle 4. With knowledge of the exact distance, the exact position of the underwater vehicle 2 relative to the relay vehicle 4 results The control unit 16 of the relay vehicle 4 further receives GPS position signals 22 via the radio antenna 5, so that the control unit 16 can precisely determine the actual position of the relay vehicle 4. By linking the actual position of the relay vehicle with the relative position of the
- Submarine vehicle the actual position of the underwater vehicle is determined, which is provided to the underwater vehicle as part of the control information 14 available.
- the autonomous navigation of the underwater vehicle can rely on the exact position of the underwater vehicle during the course of the mission program, which can not reliably determine the autonomous underwater vehicle during its mission under water.
- the control unit 16 determines corresponding control commands 23 for the drive 15 of the relay vehicle 4.
- the control unit 16 takes into account the incoming measured values of the sonar 19 of the relay vehicle 4, where appropriate avoidance maneuvers are controlled with obstacles 20 lying ahead.
- navigation sensors 24 are arranged in the relay vehicle, which provide the control unit 16 in the management of the relay vehicle 4 more information.
- the control unit 16 of the relay vehicle 4 is associated with a data processing device 25, in which the information provided for external communication 26 is preprocessed.
- a selection of the information desired for the external communication 26 can take place, for example exclusively mission information 9 being transmitted in real time.
- the data processing device can also be used for the storage of information, so that corresponding devices on board the underwater vehicle 2 are not required or the power supply of the underwater vehicle 2 is relieved.
- the external communication 26 takes place via an encoding device 27, which codes the information intended for external communication 26 or decodes the information received via the antenna and makes it available to the control unit 6. In this way, it is ensured that in the external communication 26 of the underwater work system via the radio antenna 5 encrypted information is transmitted.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012006565A DE102012006565A1 (en) | 2012-03-30 | 2012-03-30 | Underwater work system and method of operating an underwater workstation |
PCT/DE2013/100053 WO2013143528A1 (en) | 2012-03-30 | 2013-02-13 | Underwater working system and method for operating an underwater working system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2830934A1 true EP2830934A1 (en) | 2015-02-04 |
EP2830934B1 EP2830934B1 (en) | 2018-04-04 |
Family
ID=47900392
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13710283.6A Active EP2830934B1 (en) | 2012-03-30 | 2013-02-13 | Underwater system and method for its operation |
Country Status (10)
Country | Link |
---|---|
US (1) | US9669912B2 (en) |
EP (1) | EP2830934B1 (en) |
AU (1) | AU2013242589B2 (en) |
CA (1) | CA2866295C (en) |
DE (2) | DE102012006565A1 (en) |
DK (1) | DK2830934T3 (en) |
GB (2) | GB2506817B (en) |
NO (1) | NO2945856T3 (en) |
PT (1) | PT2830934T (en) |
WO (1) | WO2013143528A1 (en) |
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US10328999B2 (en) * | 2014-01-10 | 2019-06-25 | Wt Industries, Llc | System for launch and recovery of remotely operated vehicles |
EP3191363A1 (en) * | 2014-09-12 | 2017-07-19 | CGG Services SA | Auv based seismic acquisition system and method |
CN104777845B (en) * | 2015-04-15 | 2018-04-03 | 上海海事大学 | The underwater body apparatus and automatic obstacle avoiding method of underwater robot |
US20170291670A1 (en) * | 2016-04-08 | 2017-10-12 | Texas Marine & Offshore Projects LLC | Autonomous workboats and methods of using same |
CN107845158B (en) * | 2017-10-08 | 2019-08-13 | 浙江大学 | A kind of data back device and method of underwater operation instrument |
JP2019089422A (en) * | 2017-11-14 | 2019-06-13 | リュル キム,ドン | Seabed survey system using underwater drone |
EP3720766A4 (en) * | 2017-12-09 | 2021-08-25 | Oceaneering International, Inc. | Methods for subsea vehicles supervised control |
CN108132631B (en) * | 2018-01-31 | 2019-12-06 | 上海彩虹鱼深海装备科技有限公司 | power supply control system and method for deep sea equipment |
TWI729531B (en) * | 2019-10-17 | 2021-06-01 | 國立中央大學 | Wireless communication relay system for unmanned vehicles |
CN112526524B (en) * | 2020-12-09 | 2022-06-17 | 青岛澎湃海洋探索技术有限公司 | Underwater fishing net detection method based on forward-looking sonar image and AUV platform |
CN112615913B (en) * | 2020-12-09 | 2022-08-09 | 大连海事大学 | Information returning method for cooperation of unmanned aerial vehicle and unmanned ship for marine environment monitoring |
US20230061059A1 (en) * | 2021-08-25 | 2023-03-02 | Brendan Hyland | Compact surveillance system |
CN113895580B (en) * | 2021-11-17 | 2022-11-15 | 国网智能科技股份有限公司 | Communication positioning device and method for cableless autonomous underwater robot |
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EP2616317B1 (en) * | 2010-09-13 | 2016-03-09 | Incube Labs, Llc | Self-propelled buoy for monitoring underwater objects |
DE102010056539A1 (en) * | 2010-12-29 | 2012-07-05 | Atlas Elektronik Gmbh | Coupling head, coupling device with coupling head, attachable Rendezvouskopf, Rendevouseinrichtung with Rendezvouskopf, underwater vehicle with it, coupling system, coupling method and application method for an underwater vehicle |
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2012
- 2012-03-30 DE DE102012006565A patent/DE102012006565A1/en not_active Withdrawn
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2013
- 2013-02-13 CA CA2866295A patent/CA2866295C/en active Active
- 2013-02-13 US US14/387,238 patent/US9669912B2/en active Active
- 2013-02-13 DE DE112013001824.1T patent/DE112013001824A5/en not_active Withdrawn
- 2013-02-13 EP EP13710283.6A patent/EP2830934B1/en active Active
- 2013-02-13 DK DK13710283.6T patent/DK2830934T3/en active
- 2013-02-13 WO PCT/DE2013/100053 patent/WO2013143528A1/en active Application Filing
- 2013-02-13 AU AU2013242589A patent/AU2013242589B2/en active Active
- 2013-02-13 GB GB1401862.6A patent/GB2506817B/en active Active
- 2013-02-13 GB GB1406433.1A patent/GB2510990B/en active Active
- 2013-02-13 PT PT137102836T patent/PT2830934T/en unknown
- 2013-12-23 NO NO13814160A patent/NO2945856T3/no unknown
Non-Patent Citations (1)
Title |
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See references of WO2013143528A1 * |
Also Published As
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DE112013001824A5 (en) | 2014-12-11 |
AU2013242589B2 (en) | 2016-05-12 |
GB201406433D0 (en) | 2014-05-21 |
US20150046014A1 (en) | 2015-02-12 |
GB201401862D0 (en) | 2014-03-19 |
US9669912B2 (en) | 2017-06-06 |
NO2945856T3 (en) | 2018-07-21 |
GB2510990B (en) | 2014-10-22 |
EP2830934B1 (en) | 2018-04-04 |
DK2830934T3 (en) | 2018-06-14 |
GB2506817A (en) | 2014-04-09 |
WO2013143528A1 (en) | 2013-10-03 |
PT2830934T (en) | 2018-06-06 |
CA2866295A1 (en) | 2013-10-03 |
GB2506817B (en) | 2014-07-09 |
CA2866295C (en) | 2019-09-03 |
GB2510990A (en) | 2014-08-20 |
AU2013242589A1 (en) | 2014-10-16 |
DE102012006565A1 (en) | 2013-10-02 |
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