CA2490839A1 - Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus - Google Patents

Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus Download PDF

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Publication number
CA2490839A1
CA2490839A1 CA002490839A CA2490839A CA2490839A1 CA 2490839 A1 CA2490839 A1 CA 2490839A1 CA 002490839 A CA002490839 A CA 002490839A CA 2490839 A CA2490839 A CA 2490839A CA 2490839 A1 CA2490839 A1 CA 2490839A1
Authority
CA
Canada
Prior art keywords
target position
deploying
underwater target
load
control
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
Application number
CA002490839A
Other languages
French (fr)
Other versions
CA2490839C (en
Inventor
Francois Bernard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority claimed from CA002401587A external-priority patent/CA2401587C/en
Publication of CA2490839A1 publication Critical patent/CA2490839A1/en
Application granted granted Critical
Publication of CA2490839C publication Critical patent/CA2490839C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H5/00—Measuring propagation velocity of ultrasonic, sonic or infrasonic waves, e.g. of pressure waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Ocean & Marine Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Earth Drilling (AREA)

Abstract

Apparatus (50) for deploying an object to an underwater target position, the apparatus being provided with a beacon to transmit acoustic rays, a plurality of thrusters (56(i), i = 1, 2, ...I, I being an integer) to control positioning of said apparatus with respect to said underwater target position, and a sound velocity meter to measure velocity of sound in a fluid surrounding said apparatus.
CA002490839A 2000-03-20 2000-03-20 Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus Expired - Fee Related CA2490839C (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CA002401587A CA2401587C (en) 2000-03-20 2000-03-20 Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CA002401587A Division CA2401587C (en) 2000-03-20 2000-03-20 Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus

Publications (2)

Publication Number Publication Date
CA2490839A1 true CA2490839A1 (en) 2001-09-27
CA2490839C CA2490839C (en) 2009-06-09

Family

ID=34140442

Family Applications (2)

Application Number Title Priority Date Filing Date
CA002569992A Expired - Fee Related CA2569992C (en) 2000-03-20 2000-03-20 A navigation processor, a system comprising such a navigation processor and a method of controlling an underwater system by such a navigation processor
CA002490839A Expired - Fee Related CA2490839C (en) 2000-03-20 2000-03-20 Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CA002569992A Expired - Fee Related CA2569992C (en) 2000-03-20 2000-03-20 A navigation processor, a system comprising such a navigation processor and a method of controlling an underwater system by such a navigation processor

Country Status (1)

Country Link
CA (2) CA2569992C (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108490396A (en) * 2018-03-16 2018-09-04 哈尔滨工业大学（威海） A kind of ultra-short baseline localization method based on underwater sound signal Kalman filtering
CN110132281A (en) * 2019-05-21 2019-08-16 哈尔滨工程大学 A kind of autonomous acoustic navigation method of underwater high-speed target with high precision based on inquiry answer-mode

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107992089A (en) * 2018-01-19 2018-05-04 美钻能源科技(上海)有限公司 A kind of intelligent automation ocean culture system (OCS) and its method
CN113184147B (en) * 2021-04-30 2022-07-29 白城师范学院 Multi-target collaborative search underwater robot with function of preventing sludge from being trapped
CN118640939B (en) * 2024-08-15 2024-10-22 四川中图三维信息技术有限公司 Target track correction method and system in marine geographic mapping

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108490396A (en) * 2018-03-16 2018-09-04 哈尔滨工业大学（威海） A kind of ultra-short baseline localization method based on underwater sound signal Kalman filtering
CN108490396B (en) * 2018-03-16 2022-09-16 哈尔滨工业大学（威海） Ultra-short baseline positioning method based on underwater acoustic signal Kalman filtering
CN110132281A (en) * 2019-05-21 2019-08-16 哈尔滨工程大学 A kind of autonomous acoustic navigation method of underwater high-speed target with high precision based on inquiry answer-mode
CN110132281B (en) * 2019-05-21 2023-10-20 哈尔滨工程大学 Underwater high-speed target high-precision autonomous acoustic navigation method based on inquiry response mode

Also Published As

Publication number Publication date
CA2569992A1 (en) 2001-09-27
CA2490839C (en) 2009-06-09
CA2569992C (en) 2009-09-29

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