EP3322638B1 - Carrying out remote controlled underwater works - Google Patents

Description

The invention relates to a device and a method for performing remote-controlled underwater work.

With the increasing use of offshore resources, there is an increasing need to maintain or repair facilities that are under water. Typical examples of the use of offshore resources are offshore wind farms, the extraction of oil and natural gas, but also increasingly the extraction of other raw materials, such as ores. Large stocks of raw materials are known, which are located in the Arctic. The additional problem arises here that these areas are not free of ice all year round. It is therefore difficult, if not impossible, to send a surface ship to do the necessary work with a remotely operated vehicle (ROV).

From the WO 2015/049678 A1 an unmanned underwater vehicle is known, the unmanned underwater vehicle having a further unmanned underwater vehicle. However, the underwater vehicle described here is an underwater vehicle, for example for clearing mines. The underwater vehicle is not designed for often highly complex work, which is therefore carried out regularly by remote control.

From the WO 2014/180590 A1 a system for marine exploration is known. The system has a plurality of docks and an unmanned underwater vehicle. The system also has data communication with the land, but this is not equipped for permanent data transmission, which would be necessary for remote-controlled underwater work.

From the US 6,260,504 B1 a system for depositing a remote-controlled vehicle is known.

From the US 2009/01141040 A1 a device for supporting underwater operations is known.

From the US 3,621,911 A. a system for underwater mining of minerals is known.

From the US 2015/0112513 A1 a remote controlled vehicle is known.

From the US 6854410 B1 a remote controlled underwater vehicle is known.

The object of the invention is to provide an underwater vehicle which can autonomously control a device which is, for example, below an ice sheet, and can carry out work thereon, the work being carried out remotely. This requires, in particular, secure and powerful data transmission.

This object is achieved by the system with the features specified in claim 1 and the method with the features specified in claim 11. Advantageous further developments result from the subclaims, the following description and the drawings.

The unmanned underwater vehicle according to the invention has a remote-controlled underwater vehicle and an autonomously operating underwater vehicle. The unmanned underwater vehicle has a first connection to the remote-controlled underwater vehicle, the first connection being used for data exchange. Furthermore, the unmanned underwater vehicle has a second connection to the remote-controlled underwater vehicle, the second connection serving for energy supply. The unmanned underwater vehicle also has a third connection to the autonomously operating underwater vehicle, the third connection being used for data exchange.

The advantage of the unmanned underwater vehicle according to the invention is the optimal use of the advantages of the three vehicle types used. The unmanned underwater vehicle can preferably accommodate the remote-controlled underwater vehicle and the autonomously operating underwater vehicle for the route to the operational area. As a result, a flow-optimized unmanned underwater vehicle can be used. Remote-controlled underwater vehicles are regularly designed so that they are not suitable for long distances. Because of their intended use, remote-controlled underwater vehicles often have a plurality of manipulators (remote-controlled tools). To be able to carry out their work, remote-controlled underwater vehicles are usually rather compact. These are therefore not regularly flow-optimized and are not suitable for covering longer distances. In terms of drive technology, these are regularly optimized for maneuverability and usually do not have their own energy supply. The power supply is carried out in parallel with the remote control via cable. Thus, remote-controlled underwater vehicles cannot be used without a mother or carrier vehicle. As the unmanned underwater vehicle for the shipment of the remote-controlled underwater vehicle must also be suitable over long distances, it is difficult to connect it directly to an on-site interface, because the unmanned watercraft cannot have the necessary maneuverability due to its practical orientation. In particular, the unmanned underwater vehicle is comparatively large in order to be able to pick up and transport the autonomously operating underwater vehicle and the remote-controlled underwater vehicle. Furthermore, the unmanned underwater vehicle has energy storage and / or generation devices and a drive system for long distances. This means that the unmanned underwater vehicle is comparatively large and less maneuverable. In order to establish the connection to an on-site interface, the unmanned underwater vehicle has an autonomously operating underwater vehicle. Autonomously operating submersibles can take on simple tasks from the outside without further control. In the present case, the task of the autonomously operating underwater vehicle, after being released by the unmanned underwater vehicle, is to locate an on-site interface, to control it and to establish a data connection. The autonomously operating underwater vehicle is therefore more agile than the significantly larger unmanned underwater vehicle. The autonomously operating underwater vehicle has a limited energy store, which is sufficient to fulfill the task assigned to it. The energy storage device of the autonomously operating underwater vehicle can be charged by this, for example, during transport in the unmanned underwater vehicle.

The unmanned underwater vehicle preferably has a first interior storage space (first garage) in which the remote-controlled underwater vehicle can be accommodated, and a second interior storage space (second garage) in which the autonomously operating submersible vehicle can be accommodated. Due to the internal storage, flow optimization of the unmanned underwater vehicle is possible.

The third connection is used for data exchange, this data exchange ultimately taking place between the remote-controlled underwater vehicle and the location of the remote control. A direct data exchange via the autonomously operating underwater vehicle or with the autonomously operating underwater vehicle is not necessary. The autonomously operating underwater vehicle only serves to establish the data connection.

According to the invention, the autonomously operating underwater vehicle has a first interface, the first interface being designed for data exchange with an underwater device. The first interface is preferably designed to be able to receive and transmit data electrically, acoustically or optically. An electrical interface preferably works without power transmission. The data are particularly preferably transmitted acoustically or optically, since in this way the use of electrical contacts in a corroding environment can be dispensed with. The interface is particularly preferably a glass fiber plug connection. In order to be able to carry out remote-controlled work, a connection must be established between the remote-controlled underwater vehicle and a control center, which enables real-time, for example, to transmit image data of the remote-controlled underwater vehicle to the control center and to transmit control commands from the control center to the remote-controlled underwater vehicle in the opposite direction. The data rates required for control can be achieved with the regularly very long connections, preferably using fiber optic technology. The control center can be located at a great distance, especially on land. The control center has technical facilities for communication with the remote-controlled underwater vehicle, whereby the communication can take place directly or via the unmanned underwater vehicle. The control center can have devices for data acquisition, data evaluation and / or data storage. The control center can have an operating device via which the remote-controlled underwater vehicle can be manually remote-controlled. Alternatively or additionally, the control center can have a device for automatically controlling the remote-controlled underwater vehicle. The advantage of this embodiment is the significantly greater computing power compared to an autonomously operating underwater vehicle, which can be integrated into a control center. Data can be stored, for example, for documentation and / or evidence preservation.

In a further embodiment of the invention, the autonomously operating underwater vehicle has at least one first sensor, the first sensor serving for autonomous navigation of the autonomously operating underwater vehicle, the first sensor being an acoustic sensor or an optical sensor. Since the task of the autonomously operating underwater vehicle is to find a second interface located on site and to establish a connection with it, the autonomously operating underwater vehicle requires a suitable sensor. An acoustically based orientation system, for example a sonar, can preferably be used for navigation. Alternatively or additionally However, visual navigation can also take place, the autonomously operating underwater vehicle having a light source in addition to a camera for this purpose.

In a further embodiment of the invention, the first connection and the second connection are implemented in a common connecting line, for example in a multi-core cable. It is also possible that both power supply and data exchange take place via the same mechanical cable, as is known, for example, from the use of power lines for a LAN.

In a further embodiment of the invention, the unmanned underwater vehicle has a first cable management system for the first connection and the second connection and a second cable management system for the third connection. While the underwater vehicle typically maintains its position in the operating area, the remote controlled underwater vehicle will often change its position to be able to do its work. The first connection and the second connection exist between the unmanned underwater vehicle and the remote-controlled underwater vehicle. This is advantageously actively tracked due to the changing relative position of the remote-controlled underwater vehicle to the unmanned underwater vehicle. In the simplest case, this can be done by rolling up the connections. Since the distance between the unmanned underwater vehicle and the autonomously operating underwater vehicle also depends on the respective situation, active tracking is preferred for the third connection.

In a further embodiment of the invention, the unmanned underwater vehicle has an energy generating device. The energy generating device is preferably a fuel cell or a diesel generator which is independent of outside air. Very high energy storage densities can be achieved by using a fuel cell or a diesel generator that is independent of outside air. Since the unmanned underwater vehicle should in particular also be designed for use under a closed ice cover, systems independent of outside air are advantageous, since no oxygen or combustion air from the surface, e.g. through a snorkel, can be provided.

In a further embodiment of the invention, the unmanned underwater vehicle has an energy storage device. It is also possible that the unmanned underwater vehicle has as the only energy source an energy storage device, for example a battery or an accumulator. It is common and preferred, however, that an energy storage device is provided in parallel with an energy generating device. A combination of a fuel cell and an accumulator is particularly preferably used. As a result, the fuel cell can be operated at a continuous energy generation level, load peaks when the remote-controlled underwater vehicle is used are cushioned by the energy storage device.

In a further embodiment of the invention, the unmanned underwater vehicle has a dynamic positioning system. It is also conceivable for the unmanned underwater vehicle to hold its position, for example by means of an anchor. However, since there are regular underwater installations in the area of use, it is preferable not to use an anchor to avoid damaging the underwater installations. In order to be able to hold the position nonetheless, the unmanned underwater vehicle has a dynamic positioning system, which preferably consists of a plurality of thruster drives, which can also be pivoted. The thruster drives can be individually controlled and swiveled for positioning tasks. The dynamic positioning system can, for example, be implemented independently of the main drive system for long distances, which has the advantage that both systems can be optimized independently for the respective application.

In an additional or alternative embodiment, at least one connection between the unmanned underwater vehicle and the autonomously operating submersible is so stable that normal loads of anchoring to the ground can be transmitted without damaging the connection, and the autonomously operating submersible has means for a load-bearing connection to be carried out with an underwater installation, in particular this underwater installation is an interface for a data connection. Alternatively, the autonomously operating underwater vehicle can have anchor means. With this configuration, the autonomously operating underwater vehicle can perform the additional task of securing the position of the underwater vehicle.

In a further embodiment of the invention, the unmanned underwater vehicle has a data processing device in order to be able to decrypt, unpack and / or amplify the communication signals arriving from the control center. Alternatively or additionally the unmanned underwater vehicle has a data processing device in order to be able to encrypt, pack and / or amplify the communication signals which are to be sent from the remote-controlled underwater vehicle to the control center. In the case of encrypted and / or packed data transmission, the control center has a corresponding device for encrypting and / or decrypting or for packing and / or unpacking. The data processing device of the unmanned underwater vehicle can also change the type of data transmission. For example, the type of data transmission between the unmanned underwater vehicle and the remote-controlled underwater vehicle can be electrical and the data transmission between the unmanned underwater vehicle and the control center can be optical.

In a further embodiment of the invention, the unmanned underwater vehicle has a control unit, the control unit being able to remotely control the remote-controlled underwater vehicle. The control unit can be used for remote control of the remote-controlled underwater vehicle if the data transmission to the control center is interrupted or disrupted. The control unit is preferably used to carry out rudimentary operations, for example in order to bring the remote-controlled underwater vehicle into a safe position when the remote control is interrupted by the control center or to bring it back to the unmanned underwater vehicle. Likewise, the remote-controlled underwater vehicle can be held in position by the control unit of the unmanned underwater vehicle until the connection to the control center has been re-established.

In a further embodiment of the invention, the control unit of the unmanned underwater vehicle can be designed to autonomously carry out control tasks for certain work processes. For example, simple tasks or routine tasks of the remote-controlled underwater vehicle can be carried out autonomously by the control unit of the unmanned underwater vehicle without interaction with the control center. For example, the task of laying a cable from a first point to a second point could be transmitted from the control center to the unmanned underwater vehicle. In this case, the control unit of the unmanned underwater vehicle would autonomously remotely control the remote-controlled underwater vehicle and do the job. The advantage of this embodiment is the significant reduction in data transmission to the control center. Secondly, a conventional remote-controlled one Can be used underwater vehicle that does not have to have an autonomous ability to work.

In a further embodiment of the invention, the third connection is designed as a pure data transmission connection. For example, it is a fiber optic connection.

In a further embodiment of the invention, the unmanned underwater vehicle, the autonomously operating underwater vehicle and the remote-controlled underwater vehicle are supplied with energy exclusively by the unmanned underwater vehicle. The advantage of this embodiment is that the connection line to the control center works practically without power. This enables a comparatively simple design that is optimized for data transmission.

In a further embodiment of the invention, the unmanned underwater vehicle has at least one first remote-controlled underwater vehicle and at least one second remote-controlled underwater vehicle. Embodiments with three or more remote-controlled underwater vehicles are also conceivable. The various remote-controlled underwater vehicles can be of the same type. As a result, tasks can be carried out in parallel and therefore faster overall. On the other hand (alternatively or additionally), different remote-controlled underwater vehicles can also be used, wherein the different remote-controlled underwater vehicles can be optimized for different tasks. The remote-controlled underwater vehicle to be used for a task is selected according to the specialization.

The invention relates to a system for carrying out remote-controlled underwater work, the system for carrying out remote-controlled underwater work consisting of an unmanned underwater vehicle according to the invention, a control center, a connection line between the control center and a location where the remote-controlled underwater work is to be carried out. The connecting line has a second interface at the underwater end, the second interface being designed for data exchange with a first interface of the autonomously operating underwater vehicle of the unmanned underwater vehicle. The control center is preferably land based.

The system according to the invention allows complex underwater work to be carried out remotely. The advantage of a fixed connection line between the (preferably land-based) control center and the area of application is, on the one hand, a comparatively high data transmission rate. On the other hand, a permanently laid connection line is significantly safer than a one-time connection laid by the unmanned underwater vehicle. Such single-use connections are usually very thin glass fibers, which can be used, for example, for the remote control of torpedoes. However, these are susceptible to damage and are usually only suitable for short-term use. Furthermore, the systems are used for the extraction of raw materials under water for a very long time, so that maintenance or repair measures must be carried out regularly over the life of the systems. The one-time installation can also save costs.

1. a) Entsenden eines erfindungsgemäßen unbemannten Unterwasserfahrzeugs an den Ort, an welchem die ferngesteuerten Unterwasserarbeiten ausgeführt werden sollen,
2. b) Abkoppeln des autonom operierenden Unterwasserfahrzeugs von dem unbemannten Unterwasserfahrzeug,
3. c) autonomes Ansteuern einer zweiten Schnittstelle durch das autonom operierende Unterwasserfahrzeug,
4. d) Herstellen eine Verbindung zwischen einer ersten Schnittstelle und der zweiten Schnittstelle,
5. e) Aufbau einer Datenverbindung zwischen dem Kontrollzentrum und dem ferngesteuerten Unterwasserfahrzeug,
6. f) Durchführen der Unterwasserarbeiten mit dem ferngesteuerten Unterwasserfahrzeug.

In a further aspect, the invention relates to a method for performing remote-controlled underwater work. The process has the following process steps:

1. a) sending an unmanned underwater vehicle according to the invention to the location where the remote-controlled underwater work is to be carried out,
2. b) uncoupling the autonomously operating underwater vehicle from the unmanned underwater vehicle,
3. c) autonomous control of a second interface by the autonomously operating underwater vehicle,
4. d) establishing a connection between a first interface and the second interface,
5. e) establishing a data connection between the control center and the remote-controlled underwater vehicle,
6. f) Carrying out the underwater work with the remote-controlled underwater vehicle.

In step a), the unmanned underwater vehicle first drives independently into the operation area. Here, the remote-controlled underwater vehicle and the autonomously operating underwater vehicle are preferably located within the unmanned underwater vehicle.

After the operating area has been reached by the unmanned underwater vehicle, the autonomously operating underwater vehicle is uncoupled in step b).

In step c), the autonomously operating underwater vehicle autonomously controlled the second interface. Communication between the second interface and the autonomously operating underwater vehicle is particularly preferred, for example the autonomously operating underwater vehicle sends out a first acoustic signal, which leads to the acoustic remote station transmitting a second acoustic signal at the second interface and thus to the operate autonomously underwater vehicle enables navigation.

In step d) a connection is established between the first interface and the second interface. A mechanical connection is preferably also established between the autonomously operating underwater vehicle and the second interface in order to anchor the autonomously operating underwater vehicle at the second interface. The connection for data exchange can be established, for example, by establishing a plug connection. Alternatively, the connection can also be established by exchanging sound or light signals.

After this connection has been established, a connection is established in step e) from the control center via the unmanned underwater vehicle to the remote-controlled underwater vehicle.

In step f), the remote-controlled underwater work is then carried out. Here, the unmanned underwater vehicle takes over the energy supply for the remote-controlled underwater vehicle, while the control is carried out by the control center. This also makes lengthy and highly complex work possible.

Fig. 1

Anfahrt des unbenannten Unterwasserfahrzeugs an die Unterwasserinstallationen

Fig. 2

autonomes Ansteuern der zweiten Schnittstelle durch das autonom operieren Unterwasserfahrzeug

Fig. 3

Herstellen einer Verbindung zwischen der ersten Schnittstelle und der zweiten Schnittstelle

Fig. 4

Durchführen der ferngesteuerten Unterwasserarbeiten

The unmanned underwater vehicle according to the invention and the method for carrying out remote-controlled underwater work are explained in more detail below on the basis of an exemplary embodiment shown in the drawings.

Fig. 1

Approach of the unnamed underwater vehicle to the underwater installations

Fig. 2

autonomous control of the second interface by the autonomously operating underwater vehicle

Fig. 3

Establishing a connection between the first interface and the second interface

Fig. 4

Carrying out remote-controlled underwater work

In order to maintain an underwater installation 60, an unmanned underwater vehicle 10 is first dispatched there, as in FIG Fig. 1 shown. The underwater vehicle 10 has a remote-controlled underwater vehicle 20 and an autonomously operating underwater vehicle 30. After reaching the target area, the autonomously operating underwater vehicle 30 is uncoupled from the unmanned underwater vehicle 10. The autonomously operating underwater vehicle 30 then controls autonomously, as in FIG Fig. 2 shown, the second interface 40 and, as in Fig. 3 shown a connection. A connection from the control center to the remote-controlled underwater vehicle 20 can now be established via the connecting line 50, the second interface 40, the autonomously operating underwater vehicle 30, the third connection 14, the unmanned underwater vehicle 10 and the first connection 16. The remote-controlled underwater vehicle 20 is then controlled via this connection and, as in FIG Fig. 4 shown, the underwater work on the underwater installation 60 to be performed. So that the unmanned underwater vehicle 10 can hold its position in the area of the underwater installation 60, it has a dynamic positioning system 12.

After completion of the underwater work, the remote-controlled underwater vehicle 20 returns to the unmanned underwater vehicle 10, the connection between the second interface 40 and the autonomously operating underwater vehicle 30 is released and the autonomously operating underwater vehicle 30 also returns to the unmanned underwater vehicle 10. The unmanned underwater vehicle 10 can travel to its starting point or another location.

reference numeral

10

unmanned underwater vehicle

12

dynamic positioning system

14

third connection

16

first and second connection

20

remote controlled underwater vehicle

30

autonomously operating underwater vehicle

40

second interface

50

connecting line

60

Underwater installation

Claims (11)

1. System for the execution of remotely controlled underwater works, consisting of an unmanned underwater vehicle (10), a control centre, a connection line (50) between the control centre and a location at which the remotely controlled underwater works are to be performed, wherein the connection line (50) comprises a second interface (40) at the underwater end, wherein the second interface (40) is designed to exchange data with a first interface of the autonomously operating underwater vehicle (30) of the unmanned underwater vehicle (10), wherein the unmanned underwater vehicle (10) comprises a remotely operated underwater vehicle (20), wherein the unmanned underwater vehicle (10) comprises a first connection to the remotely operated underwater vehicle (20), wherein the first connection serves to exchange data, wherein the unmanned underwater vehicle (10) comprises a second connection to the remotely operated underwater vehicle (20), wherein the second connection serves to supply energy, wherein the unmanned underwater vehicle (10) comprises an autonomously operating underwater vehicle (30), wherein the unmanned underwater vehicle (10) comprises a third connection (14) to the autonomously operating underwater vehicle (30), wherein the third connection (14) serves to exchange data, the autonomously operating underwater vehicle (30) comprises a first interface, wherein the first interface is designed to exchange data with an item of underwater equipment.
2. System according to Claim 1, characterized in that the first interface is designed to receive and send data electrically, acoustically or optically.
3. System according to either of the preceding claims, characterized in that the autonomously operating underwater vehicle (30) comprises at least one first sensor, wherein the first sensor serves to autonomously navigate the autonomously operating underwater vehicle (30), wherein the first sensor is an acoustic sensor or an optical sensor.
4. System according to any one of the preceding claims, characterized in that the unmanned underwater vehicle (10) comprises a first cable management system for the first connection and the second connection, and a second cable management system for the third connection (14).
5. System according to any one of the preceding claims, characterized in that the unmanned underwater vehicle (10) comprises an energy generating device.
6. System according to Claim 5, characterized in that the energy generating device is a fuel cell or a diesel generator that is non-dependent on external air.
7. System according to any one of the preceding claims, characterized in that the unmanned underwater vehicle (10) comprises an energy storage means.
8. System according to any one of the preceding claims, characterized in that the unmanned underwater vehicle (10) comprises a dynamic positioning system (12).
9. System according to any one of the preceding claims, characterized in that the third connection is realized as a pure data transmission connection.
10. System according to any one of the preceding claims, characterized in that the unmanned underwater vehicle (10), the autonomously operating underwater vehicle (30) and the remotely operated underwater vehicle (20) are supplied with energy exclusively by the unmanned underwater vehicle (10).
11. Method for the execution of remotely controlled underwater works with a system according to any one of the preceding claims, wherein the method comprises the following method steps:

    a) dispatching an unmanned underwater vehicle (10) according to any one of Claims 1 to 10 to the location at which the remotely controlled underwater works are to be performed,

    b) decoupling the autonomously operating underwater vehicle (30) from the unmanned underwater vehicle (10),

    c) the autonomously operating underwater vehicle (30) autonomously heading for a second interface (40),

    d) establishing a connection between a first interface and the second interface (40),

    e) setting up a data connection between a control centre and the remotely operated underwater vehicle (20),

    f) executing the underwater works by means of the remotely operated underwater vehicle (20).

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