WO2013068658A1

WO2013068658A1 - System and method for monitoring, by way of a second motorized object, a first object that moves on the surface of a body of water or is immersed in said body

Info

Publication number: WO2013068658A1
Application number: PCT/FR2012/000449
Authority: WO
Inventors: Eric SOTTILE; Stéphane Meillere
Original assignee: Universite D'aix Marseille
Priority date: 2011-11-08
Filing date: 2012-11-08
Publication date: 2013-05-16
Also published as: FR2982375A1

Abstract

The present invention relates to a system and a method for monitoring a first object that moves on the surface of a body of water or is immersed in said body by way of a second motorized object. The monitoring system is characterized in that the second object (2) comprises propulsion means (6) and also control means (MCU 2, 30) for said propulsion means (6), these control means (MCU 2, 30) being able, on the basis of the geographical location of the first (1) and second (2) objects, to establish the course and the distance to be covered by the second object (2) in order to follow the first object (1). Application in the aquatic or subaquatic field.

Description

The present invention relates to a system and method for monitoring a second object moving on or off the surface of a body of water or immersion in said area. The present invention relates to a system and a method for tracking a second motorized object. a first object moving on the surface of a body of water or immersed in said area, without there being any physical connection between them.

More particularly, the first object may be a person, in particular a diver or a shipwrecked person, a vehicle carrying a person, an animal or a utility object such as a buoy. The second object may be a motorized boat, a buoy with propulsion means or a motorized rescue device, the second object moving on the surface of the water or immersed in said area according to the position emitted by the first object.

In what follows, it will be taken as an example of a tracking system for which the first object is a person moving on the surface of a body of water or immersion and the second object a motorized boat that can be a motorized buoy, said boat following said person in his movement. This example is not, however, limiting.

It is known and even mandatory for the safety of a diver or an underwater hunter, as well equipped with bottles or apnea, to signal his presence by a flag, frequently called alpha flag. This pennant can be attached to a boat or buoy floating on the water. The law requires all navigation equipment to deviate from the flag carried by the buoy or the boat by at least one hundred meters, which is intended to protect the diver from the risk of collision with boats navigating on the zone. .

According to the state of the art, in order to precisely locate the diver during his movement, the flag is connected to the diver with a rope so that it follows his path. This rope is the source of many disadvantages for the diver. It can become entangled, cling to various floating objects, make knots, which can cause serious accidents.

US-A-5,331,602 discloses a device for determining the underwater position of at least one plunger or vehicle which implements an underwater acoustic communication means, a buoy base and a remote buoy comprising an acoustic transponder and GPS equipment. The position of the buoys is determined using the GPS equipment. The location of the plunger or the vehicle is effected by means of an acoustic transponder for tracking by sending a message, the message comprising information relating to an identification and information relating to the last known position at a given instant. .

Upon receipt of the message by the buoys, an acoustic message is then emitted by the buoy to give its position. The acoustic transponder for tracking receives the message and takes into account the arrival time of the message to determine its delay with respect to the buoy. In jet lag with the receipt of the transponder message by the buoy, it sends a message indicating its position. The transponder then receives this message, notes the arrival time and determines its own position accordingly. The base buoy can then communicate with a station.

If this document makes it possible to know the position of an underwater object with respect to a second object in the form of a buoy, there is no question in this document that the buoy follows the underwater object.

The problem underlying the invention is to allow the tracking of a first object moving on the surface of a body of water or immersion in it by a second object moving on the surface of the water or immersion in said extent, so that the second object joins or remains at a predetermined distance from the first object, this automatically and without physical connection between the first and second objects.

To achieve this objective, it is provided, according to the invention, a tracking system of a first object, moving on the surface of a body of water or immersion in said area, by a second object located at the surface of said extent or immersed in said area, the first object comprising means for transmitting towards the second object of a signal, the second object comprising means for receiving said signal and means for geographically locating its own position the second object comprising propulsion means as well as means for controlling said propulsion means, these control means being able to start from the geographical location of the first and second objects and to establish the heading and the distance to be traveled by the second object in order to follow the first object, characterized in that the signal transmitted by the first object towards the second object indicates the geographical location of the first object, the control means of the second object permanently determining the distance between the first and the second object objects from the geographical location of the first object contained in said signal.

The technical effect is to obtain an automatic tracking of the first object by the second object, this tracking being done automatically, permanently, without human intervention or without the aid of a physical means between the two objects but by electronic means taking into account the geographical location positions of the first and second objects, the position of the second object being slaved to that of the first object along the path of said first object.

The system according to the invention may further optionally have any of the following characteristics:

the second object is in the form of a boat or a buoy, the propulsion means being in the form of engines,

the displacement of the second object is on the surface of the body of water,

the second object comprises, as reception means, a radio-frequency receiver and / or an acoustic receiver, the control means in the second object using a microcontroller and being housed in a sealed electronic box,

the second object comprises, unitarily or in combination, a flashlight, a pennant for its recognition by boats navigating on the zone, at least one anti-collision sensor, said sensor being connected to the microcontroller,

the electronic box is placed on the second object while being raised with respect to the surface of the body of water,

as means of transmitting the first object, when the first object is able at least temporarily to move on the surface of the body of water, said object has a radio-frequency transmitter and, when the first object is able to to move at least temporarily in immersion, said object has an acoustic transmitter,

the first object comprises a set of positioning grouping the emitter or emitters of the first object, a device for the geographic location of the first object as well as a management of the power supply for said set, the first object also comprising a control computer under the form of a microcontroller, the control computer being able to form a unitary block with said positioning assembly or to be separated from said assembly,

when the first object is a person or a moving object with a person on board, the control computer of the first object comprises a screen and at least one control key allowing said person to control the second object remotely as well as to modify the programming of the control means of said second object,

the control computer of the first object comprises a control key for controlling the operation of at least one element provided in said second object,

the control computer makes it possible to display at least one piece of data relating to the displacement on the surface or the immersion of the first object, said first object integrating a sensor relating to said datum, or at least one datum relating to the operation of the control computer or the positioning assembly, the one or more data that can be selected from the immersion depth or the water temperature, the time at a given instant and / or the start time of immersion, the geographical location of the second object, the electric autonomy available for the first object, the first object being a plunger, when the control computer is separate from said positioning assembly, said plunger carries the control computer on his wrist as a watch, the positioning assembly being attached to a strap of his mask or when the control computer forms a unitary block with the positioning assembly, said plunger carries the control computer and the positioning assembly in the form of a block attached to a strap of his mask, the computer control being at least partially detachable from said block for manipulation by the plunger,

the transmission means of the first object and the reception means of the second object operate both in transmission and in reception.

The invention also relates to a method of tracking a first object, moving on the surface of a body of water or immersed in said area, by a second object lying on the surface of said area or immersed in said extension with a tracking system according to any one of the preceding claims, said method comprising the following steps:

a step of determination and transmission by the first object to the second object of the geographical location of the first object,

a step of determining the geographical location of the second object,

a step of determining a heading and the distance to be traveled by the second object in order to follow the first object,

a step of moving the second object towards the first object.

Advantageously, the moving step is triggered when the distance between the respective geographical locations of the first and second objects exceeds a predetermined proximity setpoint value.

Advantageously, the step of moving the second object towards the first object is stopped when the distance between the respective geographical locations of the first and second objects is less than a predetermined distance reference value. Advantageously, the displacement step is at the surface of the body of water and is directed towards the point of the surface of the body of water lying vertically to the first object. Other features, objects and advantages of the present invention will appear on reading the detailed description which follows and with reference to the appended drawings given by way of non-limiting examples and in which:

FIG. 1 is a schematic representation of a general view of a tracking system of a first object by a second object according to the present invention,

FIG. 2 is a schematic representation of a perspective view of a boat embodying the second object of a tracking system according to the present invention, this boat being motorized and servocontrolled for tracking the first object,

FIG. 3 is a diagrammatic representation in perspective of an embodiment of a control computer carried by the first object of the system according to the present invention,

FIG. 4 is a diagrammatic representation in perspective of an embodiment of a positioning assembly carried by the first object of the system according to the present invention,

FIG. 5 is a diagram of the various elements and their interconnections, these elements being present in a tracking assembly carried by the second object of the system according to the present invention,

FIG. 6 is a diagram of the various elements and their interconnections, these elements being present in the control computer carried by the first object of the system according to the present invention,

FIG. 7 is a diagram of the various elements and their interconnections, these elements being present in the positioning assembly carried by the first object of the system according to the present invention,

FIG. 8 is a diagram of the various elements and their interconnections, these elements being present in a positioning block combining the control computer and the positioning assembly, this block being carried by the first object of the system according to the present invention.

FIG. 1 shows a first object 1 in the form of a plunger, being able to swim on the surface of a body of water or to be immersed in said area, this first object 1 being followed by a second object 2 in the form a motorized boat carrying a flag indicating the presence of the diver underwater. The term boat is to be taken in its broad sense and can be a boat or a raft or buoy fitted to receive equipment for tracking the first object.

In the example of the plunger 1 and a boat 2 the following by servocontrol of the displacement of the boat 2 to the displacement of the plunger 1, according to the regulations in force, the boat 2 tracking must follow the plunger 1 throughout of its course, so as never to go further than one hundred meters. Such a tracking boat 2 advantageously replaces the rope that connected the plunger 1 to the plunger indication flag provided on a buoy while not having the multiple disadvantages of such a rope.

For such a tracking system of a first object 1 by a second object 2 without physical connection between them, there is provided means of communication between the two objects 1 and 2 so that the position of the first object 1 is transmitted permanently to second object 2.

The communication can be advantageously active both in the air and under water. Indeed, in the case of a diver illustrating the first object 1, said diver can be on the surface of the water swimming to win his diving place. It may also be dive as shown in Figure 1. At least a portion of the communication means are advantageously operative in each of these two cases.

For example, the plunger 1 may be provided with a radio frequency transmitter operational in its displacement on the surface of the water and / or an operational acoustic transmitter during its dive. The radio frequency transmitter and / or the acoustic emitter make it possible to send the position of the diver in the boat 2 monitoring, said boat 2 monitoring being provided with a radio frequency device operating at least in reception and / or acoustic receiver placed on said boat 2 tracking.

To ensure the operation of the tracking system by a second object 2 of the displacement of a first object 1, said system has, on the one hand, a part carried by the first object called positioning part 3, composed of a computer of command and positioning set. On the other hand, the system has a part carried by the second object 2 called tracking part 3bis.

The main but not the only function of the positioning part

3 is to emit signals allowing the tracking part 3a to follow the first object 1 by the second object 2, so that the diver can be signaled throughout his movement on the surface of the body of water or immersed.

The main but not the only function of the tracking part 3bis in the second object 2 is to follow the first object 1 by the second object 2 while respecting, if necessary, instructions, for example a proximity command triggering the displacement second object 2 when a predetermined distance between first object 1 and second object 2 has been exceeded.

In its most general form, a method according to the present invention, for tracking a first object 1, moving on the surface of a body of water or immersed in said area, by a second object 2 located on the surface of said area comprises the following steps:

a step of determining and sending to the second object 2 the geographical location of the first object 1,

a step of determining the geographical location of the second object 2,

a step of determining a heading and the distance to be traveled by the second object 2 in order to follow the first object 1,

a step of moving the second object 2 towards the first object 1.

Figure 2 shows a tracking boat 2 forming the second object subject to the displacement of a first object. The tracking boat 2 is advantageously constituted by a structure 4 of semi-rigid type. This structure 4 advantageously has a rectangular lower deck 4a and an upper deck 4b of similar shape, this upper deck 4b being raised relative to the lower deck 4a by means of uprights 4c starting from each end of the lower deck 4a in s extending to the top. The upper bridge 4b of the structure 4 carries an electronic box 27, thus raised relative to the surface of the body of water. This electronic box 27 contains in particular the electronic elements necessary for the tracking in position of the first object.

These electronic elements are thus protected from waves and splashing water. The electronic elements of the box 27 comprise the control means of the displacement of the boat 2. These control means include an electronic control unit.

The electronic elements of the box 27 are associated with a radio-frequency apparatus for communication with the first object when the latter is at shallow depth in the water, a radio-frequency apparatus whose antenna is referenced 7 in FIG. This radio-frequency device operates at least as a receiver but said apparatus is advantageously also transmitter in order to be able to send signals to the first object.

To the electronic elements of the cabinet 27 is also associated an acoustic device operating at least in reception. This acoustic apparatus operates for communication with the first object when said object is submerged underwater. An acoustic receiver 9 forming the acoustic apparatus is advantageously disposed as close as possible to the water level, for example under the lower deck 4a of the structure 4.

To remain on the surface of the water, the structure 4 is provided with at least one float 5, in FIG. 2 with two floats 5. Each float 5 is advantageously of cylindrical shape, for example in the form of an inflatable bead each float 5 extending at least along one of two opposite sides of the lower deck 4a of the structure 4. Advantageously, these floats 5 can be extended by float portions oriented towards each other, in order to be reunited together thus forming the bow of the boat 2 tracking. Advantageously, the boat 2 tracking is easily removable without tools or with reduced tools so that the boat 2 tracking can be transportable, for example in the trunk of a standard car.

The engine of the boat 2 monitoring is provided by, for example, two independent motors 6, these engines 6 forming the propulsion means of said boat 2. Nevertheless, in alternative embodiments, the boat 2 comprises a single engine or more than two engines. Each of the engines 6 is advantageously housed under a respective float 5, in particular under the lower deck 4a of the structure 4, this advantageously in a removable nacelle. These nacelles can tilt and be brought over the floats 5 when the boat 2 tracking is dry, to prevent damage to the engines 6 in case of clashes with the ground or the bottom.

The motors are fixed or adjustable. For example, they are fixed during the evolution of the buoy and it is the fact of using the left engine or the right engine that will allow movement in different directions.

The control of the boat 2 tracking is done by operating the or 6 engines, the latter can operate in both directions. The tracking boat 2 thus has maximum maneuverability and can even rotate on itself by operating the two motors 6 in opposite directions.

There may be two modes of control of the second object by the first object. The first is an autonomous mode, for which mode the boat 2 follows the object 1, previously illustrated by a plunger, without intervention of the plunger but by communication between the two objects by the positioning part of the first object with the tracking part the second object, the control means present in the second object directing the propulsion means present on said second object.

The second piloting mode is a manually controlled mode where the follow-up craft 2 is piloted by the plunger via the positioning part which it carries and the tracking part provided on the boat 2. The tracking vessel 2 advantageously carries at least one antenna, for example a radio frequency antenna 7 and advantageously a geographical location antenna of its own position of the GPS type as well as a flag 8 for tracking the dive. The tracking boat 2 may also advantageously include a flashing lamp 10 to signal the presence of the diver and incidentally to be identified by the diver during a dive in addition to being seen in all weather conditions over the range of water by boats sailing on area.

The boat 2 tracking is advantageously able to embark diving equipment, for example submarine rifle, bottles, spare materials and can advantageously be provided with a winch and / or a grapple so that the diver can 'anchor. If it is necessary to increase the capacity of the boat, for example for various materials, such as additional batteries or replacement equipment for the various elements present on the boat 2, it is possible to use the lower deck 4a of the structure of the vessel 2 monitoring as storage area.

Other functions can be envisaged with different devices such as a camera or an on-board camera, a temperature measuring device, a data recording device, etc.

The basic or auxiliary equipment, for example the electronic box 27, the radio frequency transmitter with its antenna 7, the winch, the acoustic receiver 9 are advantageously equipped to snap onto the structure 4, generally on the upper deck. 4b of said structure 4 or below the lower bridge 4a for the acoustic receiver 9.

The boat 2 followed can advantageously allow the diver to hoist in its interior so that it rests during its journey or be towed by the boat 2, the power of the engines 6 allowing it.

The boat 2 tracking is advantageously able to evolve in an unknown environment and avoid possible obstacles located in its path, either autonomously or by piloting the diver. The boat thus advantageously comprises at least one anti-collision sensor which communicates with the control means present on the boat 2. In the case of monitoring a dive, the boat 2 is advantageously able to follow the course of the diver for a minimum of four hours without ever moving more than one hundred meters. This distance, called the proximity setpoint, is advantageously programmable to take account of specific conditions or for other uses than tracking a diver.

The electronics on board the vessel 2 monitoring, mainly in the electronic box 27 allows the boat 2 to emit different levels of alerts. This is, for example, the case if one or one of the instructions is not respected, including the proximity instruction. This can also be the case if the diver requests it, especially in the event of plunging distress or if the level of batteries on board is low, etc.

As previously mentioned, the servo system of a second object to the displacement of a first object has a part carried by the second object called tracking part and which is mainly contained in the electronic box 27 shown in FIG. tracking part cooperates with a positioning part carried by the first object, for example a plunger.

Two solutions are conceivable for the realization of the positioning part carried by the plunger. The first solution provides a positioning part in two subparts, the first subpart being in the form of a control computer and the second subpart being in the form of a positioning assembly. The second solution is to contain the entire positioning assembly and the control computer in a single assembly thereby forming a unitary positioning block.

Figures 3 and 4 illustrate a positioning portion divided into two subparts carried by the plunger in two different places. In this two-part configuration, a connection between the control computer and the positioning assembly is required.

Figure 3 shows a control computer 11 advantageously worn on the wrist of the plunger so that it can be easily accessed. A bracelet 12 surrounds the wrist of the diver. The control computer 11 comprises a sealed housing 15 of substantially rectangular shape having a working surface with several functionalities. The work surface has a screen 13, a main start button 14, advantageously for both the control computer and the positioning assembly.

The control computer 11 also includes a start or stop button 20 of one or more engines of the follow-up craft, a button or a joystick 16 for controlling the follow-up craft, a control button. piloting passage control 17 of the boat in manually controlled mode by the diver or in autonomous mode. The control computer 11 finally comprises an alarm button 18, a winch actuation button for the winding 19a, a button for the unwinding 19b of said winch and a power-on LED 21.

Figure 4 shows a positioning assembly 22 constituting the second subpart of the positioning portion carried by the first object represented by the plunger.

The positioning assembly 22 can be hooked behind the head of the plunger in a support, for example attached to the strap 23 of the plunger mask. The positioning assembly 22 is in the form of a substantially rectangular sealed housing and has a radio frequency antenna 24 operating at least in transmission. This radio frequency antenna 24 operates when the plunger is on the surface or slightly immersed in water.

When the diver is deeper immersed, the communication between the diver and the follow-up craft is effected by an acoustic transmitter 25. The positioning assembly 22 finally includes a power-on LED 26 to indicate whether the set is switched on or off.

In one embodiment of the invention, it is possible to combine the positioning assembly with the control computer, both carried by the plunger. In this case, a unitary positioning block comprising the control computer and the positioning assembly is advantageously attached to the mask of the plunger. The control computer or at least its part presenting the various adjustment means, previously mentioned in the form of buttons or levers for the control computer illustrated in FIG. 4, is detachable from the mask for better accessibility to the plunger and a easy manipulation by the plunger of said control computer.

The elements of the second object and their interconnections, the elements of the first object and their interconnections with a mode for which the control computer and the positioning assembly are separated and a mode for which said computers and together are grouped together will be illustrated respectively in Figures 5 to 8.

In FIG. 5, the second object forming a follow-up vessel has a microcontroller referenced MCU 2 as the main element housed in the electronic box. It may be a microcontroller-type integrated circuit clocked by a quartz which processes information coming from positioning assembly carried by the first object represented by a plunger. The microcontroller MCU 2 manages the main functions associated with it and also delivers the signals appropriate to the control of the propulsion means in order to follow the diver, this via an interface 30, the microcontroller MCU 2 and this interface. 30 realizing the control means of the propulsion means of the second object.

The microcontroller MCU 2 is connected to a radio frequency receiver referenced 7a, which also functions advantageously as a radio-frequency transmitter. This transmitter / receiver 7a is provided with a radio frequency head and allows the reception of the signals emitted by the positioning assembly carried by the plunger. These signals are emitted when the diver is on the surface, via a radio communication and contain, for example, the geographical location coordinates of the GPS type of the diver and, if necessary, control signals from the diver. The transmitter / receiver 7a of the second object formed by the tracking boat advantageously also allows the transmission of telemetry signals to the positioning assembly carried by the first object. The microcontroller MCU 2 is connected to a geographical location device of the GPS type, in FIG. 5 under the reference 28. This geographical location device of the GPS type makes it possible to retrieve the location of the tracking device's geographical location. .

The microcontroller MCU 2 is advantageously connected to a power supply management 29 of the various elements present on the follow-up craft. The microcontroller MCU 2 has an interface 30 with the engines of the follow-up craft forming its propulsion means in order to convey the commands of the microcontroller to the engine servocontrol and to provide the control means for said propulsion means. .

The microcontroller MCU 2 is advantageously connected to at least one anti-collision sensor 31 which detects any obstacles that may hinder the craft in its progression. The microcontroller MCU 2 is connected to an alarm 32 which emits different levels of alarm.

The microcontroller MCU 2 is advantageously connected to a flashing lamp 10 which flickers in order to increase the visibility of the boat and to signal to boats sailing on a zone that a dive is in progress. The microcontroller MCU 2 is connected to an acoustic receiver 9, this receiver 9 consisting of at least two acoustic ceramic piezos. The acoustic receiver 9 is able to receive, via acoustic communication, the acoustic wave front emitted by the positioning assembly carried by the first object, for example the plunger when it is immersed.

There may thus exist an autonomous mode for which the follow-up boat follows the diver without specific action of said diver for this follow-up. This tracking can take place as well when the diver is swimming on the surface or is diving.

When the diver floats on the surface, the tracking boat can be placed in autonomous mode and can correspond with the diver by radio frequency. The microcontroller MCU 2 has the geographical location of the boat by the location device 28 of the GPS type as well as the geographical location of the plunger transmitted by the radio frequency receiver 7a also connected to the microcontroller MCU 2. Thus, it is possible to calculate by loxodromie the heading and the distance between the follow-up boat and the diver. According to the requirements of the follow-up of the first object, the microcontroller MCU 2 may be able to consider at least one instruction in its control of the engines of the follow-up craft, in order to follow the movement of the plunger while respecting said instruction.

When the plunger is immersed, the communication between the plunger and the follow-up craft is done by the acoustic receiver 9. The acoustic receiver 9 receives the acoustic wave front emitted by the radiofrequency transmitter carried by the plunger. According to the data coming from the first object, the microcontroller MCU 2 can advantageously modify the alarm 32 and the operation of the flashlamp 10 as well as generate one or several instructions to the engines of the follow-up craft in order to follow the movement of the diver respecting a specific instruction.

There may be different setpoints programmed into the microcontroller MCU 2. As the first setpoint, there may be a setpoint of proximity. The displacement of the second object, for example a boat, for tracking the first object, for example a plunger, can be triggered when the distance between the respective geographical locations of the first and second objects exceeds a predetermined proximity setpoint value. The second object is then considered too far from the first object and must approach the first object.

As a second instruction, there may be a distance instruction. In this case, the displacement of the second object has begun and the second object is considered to have come close enough to the first object to terminate said displacement. The distance between the respective geographical locations of the first and second objects is then less than a predetermined distance reference value.

Another possibility of stopping the movement of the second object is when said second object is towards the point of the surface of the body of water lying vertically to the plunger. At this moment, there is no longer any need to move the second object, said second object being as close as possible to the first object for a displacement occurring on the surface. of the expanse of water. The propulsion means of the tracking boat can then be temporarily stopped.

For the movement of the boat, there may be a manual mode for which it is the diver who directly pilot the tracking boat by manual action. For the realization of this mode, the diver is necessarily on the surface and pilot the tracking boat through his control computer which displays the appropriate functions to allow this piloting.

Figure 6 shows the various elements of the control computer 11 carried by the plunger. This control computer 11 serves as a human-machine interface and enables the diver to control the boat and / or to view telemetry signals from the positioning unit such as the battery level, the distance between the diver or other parameters, including parameters related to immersion or surface navigation.

It is thus possible to envisage the visualization of other parameters such as the time at a given instant or the beginning of the dive, the geographical location coordinates of the GPS type of the boat and / or the diver, the depth at which is the diver, the temperature of the water, the existing currents etc ...

The control computer 11 is advantageously in the form of a microcontroller with an integrated circuit clocked by a quartz which allows the centralization of the data to be transmitted to the tracking assembly and / or to display on a screen 3 of the control computer 11.

There is also provided a control panel 33 which allows the start of the system and the input commands to be sent to the positioning assembly carried by the first object and coupled to the control computer 11. A management element of power supply 34 manages the power supply of each function of the control computer 11.

In the case where the control computer is separated from the positioning assembly as shown in FIGS. 3 and 4, an IP interface is provided between the control computer and the positioning assembly. This interface can be wired or wireless. Figure 7 shows the various elements forming a positioning assembly carried by the plunger. This positioning set can have the following five main elements.

The first element is an IP interface of the positioning assembly with the control computer, this IP interface can be wired or wireless.

The second element is the radio frequency transmitter 7b. This emitter 7b, advantageously also a receiver, consists of a radio frequency head. It allows the transmission of data to the tracking assembly when the diver is at the surface, via a wireless communication by sending him for example the geographical location coordinates of the GPS type of the diver and possibly control signals. The transmitter 7b is advantageously receiver and can receive signals including from the tracking craft or telemetry signals.

The third element is the geographical location device 28b of the first object illustrated by the plunger, this device being of the GPS type.

The fourth element is the power management 29b which manages the supply of each element of the positioning assembly and, if necessary, other elements carried by the first object.

The fifth element is the acoustic transmitter 9b. This acoustic transmitter 9b advantageously comprises at least two acoustic omnidirectional ceramic piezos. This acoustic transmitter 9b emits an acoustic wave front allowing the location of the diver, when the latter is immersed.

The solution of providing a positioning assembly separate from the control computer is preferred if it is possible to implement the interfacing between control computer and positioning set separated by the IP interface without hindrance for the plunger or for the operation of the whole.

Figure 8 shows a positioning assembly incorporating a control computer, the control computer and the positioning assembly then forming a single positioning block. This unitary positioning block is advantageously implemented on a support located at the rear of the head of the plunger, in particular being able to be fixed to the strap of the diving mask. In this configuration, it is necessary to consider the possibility of unhooking at least part of the unit positioning block so that the diver can access it.

Such a unitary positioning block includes the same elements as the control computer and the positioning assembly. The unitary positioning block thus has as a control computer 11 a microcontroller similar to the microcontroller of an independent control computer.

The positioning block also has a screen 13 for displaying data from the control computer 11 and a geographical location device 28b of the GPS type for the geographical location of the position of the plunger.

As for the control computer illustrated in FIG. 6, the unitary positioning block has a control panel 33 that allows the system to be started and the commands to be sent to be sent to the rest of the positioning assembly. The positioning block also has an acoustic transmitter 9b equivalent to that shown in Figure 7 for a positioning assembly independent of the control computer.

The positioning block has a power management element 29b of each element of the unit positioning assembly. The unitary positioning block also has a radio frequency transmitter 7b which can also be receiver with a radio frequency head, this transmitter 7b being similar to that mentioned for a separate positioning assembly.

A novel element of the unitary positioning block with respect to the elements of the control computer and of the positioning assembly when they are separated is the unlocking element 35 which makes it possible to unlock the positioning block from its support, for example a strap of the mask of the plunger as shown in Figure 4.

As a unitary positioning block does not require an interface between the control computer and the positioning assembly, said unitary positioning block may be advisable in the event of difficulty in making such an interface.

The invention is in no way limited to the described and illustrated embodiments which have been given by way of example only. Thus, in another embodiment, the first object is a buoy, for example a buoy of a network comprising a plurality of buoys. The second object is likewise a buoy part of said network of buoys. The buoys forming the first object and the second object are for example adjacent buoys. In other words, in the network, they are next to each other. These two buoys, as well as other buoys in the network are likely to move relative to each other. However, they form a system according to the invention and, as a result, they comprise propulsion means and exchange signals so as to remain at a distance from each other. If all buoys in the network are identical, the entire buoy network can be held in place on the body of water.

Claims

A tracking system of a first object (1), moving on the surface of a body of water or immersed in said area, by a second object (2) lying on the surface of said area or immersed in said extension, the first object (1) comprising transmitting means (7b, 9b) towards the second object (2) of a signal, the second object (2) comprising receiving means (7, 7a, 9 ) of said signal and geographical location means (28) of its own position, the second object (2) comprising propulsion means (6) as well as control means (MCU 2, 30) of said propulsion means (6) , these control means (MCU 2, 30) being able to start from the geographical location of the first (1) and second (2) objects and to establish the heading and the distance to be traveled by the second object (2) in order to follow the first object (1), characterized in that the signal emitted by the first object (1) towards the second object (2) indicates the location g of the first object (1), the control means of the second object (2) continuously determining the distance between the first (1) and the second objects (2) from the geographical location of the first object (1) contained in said signal.

System according to claim 1, characterized in that the first object (1) is a buoy, the second object (2) is a buoy, said first and second objects being part of a network of buoys.

Tracking system according to claim 1, wherein the second object (2) is in the form of a boat or a buoy, the propulsion means (6) being in the form of engines.

Tracking system according to one of the preceding claims, wherein the displacement of the second object (2) is on the surface of the body of water. Tracking system according to one of the preceding claims, wherein the second object (2) comprises as reception means a radio frequency receiver (7, 7a) and / or an acoustic receiver (9), the control means (MCU 2, 30) in the second object (2) using a microcontroller (MCU 2) and being housed in a sealed electronic box (27).

Tracking system according to the preceding claim, wherein the second object (2) comprises individually or in combination a flashlamp (10), a flag (8) for its recognition by boats navigating on area, at least one anti-aircraft sensor. collision (31), said sensor (31) being connected to the microcontroller (MCU 2).

Tracking system according to one of the two preceding claims, wherein the electronics box (27) is arranged on the second object (2) being raised relative to the surface of the body of water.

8. Tracking system according to any one of the preceding claims, wherein, as transmission means (7b, 9b) of the first object (1), when the first object (1) is able at least temporarily to move to the surface of the body of water, said object (1) has a radiofrequency transmitter (7b) and, when the first object (1) is able to move at least temporarily immersed, said object (1) presents an acoustic transmitter (9b).

9. Tracking system according to the preceding claim, wherein the first object (1) comprises a positioning assembly (22) comprising the emitter (s) (7b, 9b) of the first object (1), a geographical location device (28b). ) of the first object (1) and a management of the power supply (29b) for said assembly (22), the first object (1) also comprising a control computer (11) in the form of a micro- controller, control computer (11) may form a unitary block with said positioning assembly (22) or be separate from said assembly (22).

10. Tracking system according to the preceding claim, wherein, when the first object (1) is a person or a moving object with a person on board, the control computer (11) of the first object

(I) comprises a screen (13) and at least one control key (16, 17) enabling said person to control the second object (2) remotely and to modify the programming of the control means (MCU 2, 30). ) of said second object (2).

11. Tracking system according to the preceding claim, wherein the control computer (11) of the first object (1) comprises a control means (17, 18, 19a, 19b) for controlling at least one element provided in said second object (2).

12. Tracking system according to any one of the three preceding claims, wherein the control computer (11) allows the visualization of at least one data relating to the displacement on the surface or the immersion of the first object (1). , said first object (1) integrating a sensor relating to said datum, or at least one datum relating to the operation of the control computer (11) or the positioning assembly (22), said datum or data be chosen from the depth of the immersion or the temperature of the water, the time at a given time and / or the time of immersion, the geographical location of the second object (2), the electric autonomy available for the first object (1).

13. Tracking system according to any one of claims 9 to 12 when not dependent on claim 2, wherein the first object (1) being a plunger, when the control computer

(II) is separated from said positioning assembly, said plunger carries the control computer (11) on his wrist as a watch, the positioning assembly (22) being attached to a strap of its mask or, when the control computer (11) forms a unitary block with the positioning assembly (22), said plunger carries the control computer ( 11) and the positioning assembly (22) in the form of a block attached to a strap of its mask, the control computer (11) being at least partially detachable from said block for manipulation by the plunger.

14. Tracking system according to any one of the preceding claims, wherein the transmission means (7b, 9b) of the first object (1) and the receiving means (7, 7a, 9) of the second object (2). work in both transmission and reception.

15. A method of tracking a first object (1), moving on the surface of a body of water or immersed in said area, by a second object (2) lying on the surface of said area or in immersing in said area with a tracking system according to any of the preceding claims, said method comprising the steps of:

a step of determining and sending by the first object (1) to the second object (2) the geographical location of the first object (1),

a step of determining the geographical location of the second object (2),

a step of determining a heading and the distance to be traveled by the second object (2) in order to follow the first object (1),

a step of moving the second object (2) towards the first object (1). 16. Method according to the preceding claim, wherein the moving step is triggered when the distance between the respective geographical locations of the first (1) and second (2) objects exceeds a predetermined proximity setpoint value.

17. Method according to any one of the two preceding claims, wherein the step of moving the second object (2) towards the first object (1) is stopped when the distance between the respective geographical locations of the first (1) and second (2) objects is less than a predetermined set distance value.

18. A method according to any of the three preceding claims, wherein the step of moving is at the surface of the body of water and is directed to the point of the surface of the body of water at the vertical of the first object (1).