EP2423101A2 - Véhicule sous-marin inhabité et procédé de fonctionnement d'un véhicule sous-marin inhabité - Google Patents

Véhicule sous-marin inhabité et procédé de fonctionnement d'un véhicule sous-marin inhabité Download PDF

Info

Publication number
EP2423101A2
EP2423101A2 EP11178897A EP11178897A EP2423101A2 EP 2423101 A2 EP2423101 A2 EP 2423101A2 EP 11178897 A EP11178897 A EP 11178897A EP 11178897 A EP11178897 A EP 11178897A EP 2423101 A2 EP2423101 A2 EP 2423101A2
Authority
EP
European Patent Office
Prior art keywords
sensor
sensor unit
underwater vehicle
positioning device
longitudinal axis
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
EP11178897A
Other languages
German (de)
English (en)
Other versions
EP2423101B1 (fr
EP2423101A3 (fr
Inventor
Jörg Kalwa
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.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik GmbH
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 Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Publication of EP2423101A2 publication Critical patent/EP2423101A2/fr
Publication of EP2423101A3 publication Critical patent/EP2423101A3/fr
Application granted granted Critical
Publication of EP2423101B1 publication Critical patent/EP2423101B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • 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
    • B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
    • 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 unmanned underwater vehicle having at least one sensor unit according to the preamble of claim 1.
  • the invention further relates to a method for operating an unmanned underwater vehicle according to the preamble of claim 9.
  • Unmanned submersibles unlike manned missions, can reach greater working depths and work in environments too dangerous for divers or manned submersibles. Unmanned underwater vehicles are also able to perform most of the tasks previously performed by larger research vessels. As a result, unmanned underwater vehicles offer a high cost advantage over manned systems. Unmanned underwater vehicles can be broadly divided into remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs).
  • ROVs remotely operated vehicles
  • AUVs autonomous underwater vehicles
  • Remote Controlled Underwater Vehicles are typically remotely controlled by a patch cord, usually by a human operator.
  • Remote-controlled underwater vehicles are preferably used for missions with localized, closer investigations under real-time conditions, whereby the underwater vehicle must often also act on an object under water, for example for repair purposes.
  • Autonomous Underwater Vehicles perform their mission without constant human operator supervision and follow a predetermined mission program.
  • Autonomous underwater vehicles have their own power supply and do not require external communication during the mission. After the mission program has been completed, the autonomous underwater vehicle will automatically emerge and be recovered afterwards.
  • An autonomous underwater vehicle is particularly suitable for long-range reconnaissance under water and examines the underwater environment usually without contact with detected objects under water.
  • Unmanned underwater vehicles ie both guided underwater vehicles (ROV) and autonomous underwater vehicles (AUV) comprise at least one sensor unit by means of which sensor information about objects in the surroundings of the underwater vehicle can be detected.
  • Long-hauled submersibles often use a camera as a sensor unit to take pictures under water, which are displayed to the operator in order to enable the operator to inspect or manipulate under real-time conditions based on images of an object.
  • Autonomous underwater vehicles require sensor units for detecting objects in the environment of the underwater vehicle for various tasks. Among other things, the sensor information is used for the navigation. The sensor information is also used to locate objects or to calculate maneuvers for closer inspection of found underwater objects.
  • DE 10 2004 062 122 B3 discloses a method for detecting and neutralizing underwater objects, in particular mines, by means of optical and / or acoustic sensors of an unmanned underwater vehicle.
  • WO 87/00501 discloses a window for an underwater vehicle which forms part of the spherical pressure hull of the underwater vehicle and comprises a transparent ring surrounding the pressure hull.
  • a camera is like that rotatably received in the pressure body, that a rotation of the camera is possible with a view through the window.
  • the sensor units are permanently mounted, but no adaptation of the sensor unit to changing structures and contours of the object to be examined is possible. Therefore, regular control maneuvers of the underwater vehicle are necessary in order to bring the sensors into new positions with respect to the underwater body to be examined in order to obtain suitable sensor information. Often, therefore, in the investigation of large underwater bodies such as underwater walls or ship walls adjustment maneuver by an operator to make, which slows down the implementation of the mission is.
  • Pan-tilt units are known, which is a mechanical transmission, which coordinates pitching movements and can perform panning movements and a camera tracking a target. Such pan-tilt units are used in particular for room monitoring, wherein the camera detects movements, in particular of invading persons.
  • the pan-tilt units are not suitable because the adjustment or alignment of camera and possibly light source is done manually by an operator and therefore a great deal of time for the adjustment of the sensors is required. Due to the remote-controlled operation of the pan-tilt units, such systems are not suitable in particular for autonomously operating underwater vehicles (AUVs).
  • AUVs autonomously operating underwater vehicles
  • the invention is based on the problem of detecting structures and contours of objects under water as quickly and accurately as possible.
  • the at least one sensor unit is movable in a tangential direction of the underwater vehicle, in particular pivotable, rotatable or displaceable, and can be positioned in the tangential direction by a positioning device, which can be used to predetermine the sensor information.
  • Mobility in the tangential direction refers to a mobility tangential to the longitudinal axis of the underwater vehicle or to an axis parallel to the longitudinal axis.
  • the tangential direction is in particular a direction of rotation about this longitudinal axis or the axis extending parallel to the longitudinal axis.
  • the tangential direction in which the sensor unit is movably disposed lies in a plane which is perpendicular to a longitudinal axis of the underwater vehicle.
  • the longitudinal axis corresponds to the straight ahead of the underwater vehicle.
  • the sensor unit Due to the alignability of the sensor unit, the sensor unit can detect a considerably larger area by changing the detection range of the sensor unit in the case of large structures, such as quay walls or ship hulls.
  • the alignment according to the invention makes it possible to detect structures and contours which lie outside the detection range of the sensor unit in a specific position. For example. An alignment of the sensor unit can also detect overhangs, in particular on steep slopes or in general of objects under water.
  • the detected structures are advantageously stored in order to compare the thus stored data of these structures with the sensor information of a later investigation of the same structure. As soon as changes or peculiarities of the structure are detected, the sensor unit is positioned in the direction of the found particularity, for example damage to a harbor wall or abnormalities on a ship's hull.
  • the sensor unit is arranged on a sensor carrier, which is rotatably arranged in the tangential direction on a hull of the underwater vehicle, i. the sensor carrier is rotatable about the longitudinal axis or an axis parallel to the longitudinal axis.
  • the positioning device Via an actuator of the sensor carrier, the positioning device can rotate the sensor carrier, so that the sensor unit is pivoted in the tangential direction of the underwater vehicle and thus positioned. In the tangential direction, the angular position of a rotatable sensor carrier is changed during positioning.
  • the sensor carrier is designed as a rotatable sensor head, which is arranged on a bow of the underwater vehicle. In this way, the area lying ahead of the underwater vehicle is optimally detected and, moreover, the sensor unit is provided at a location favorable in terms of flow mechanics.
  • the sensor carrier is designed as a sensor ring, which is rotatably arranged on the circumference of the hull.
  • the sensor unit is pivotally arranged in a pivoting direction tangentially to an axis which is perpendicular to the longitudinal axis or perpendicular to an axis extending parallel to the longitudinal axis.
  • the sensor unit can be positioned by the positioning device.
  • the sensor unit can be moved by the positioning device both in the tangential direction and in the pivoting direction, i. with a movement over two axes of rotation, accurately and quickly aligned to the object to be examined or the section of a structure.
  • the positioning device positions the sensor unit according to a criterion related to the sensor information.
  • the sensor information determined by the sensor unit is evaluated and act on itself during a displacement of the sensor unit, so that the sensor unit can be positioned very quickly according to a certain criterion.
  • a distance from an object is determined for each detected sensor information, and the size of the determined distances is used as a criterion for the positioning of the sensor unit.
  • the information for the removal of the object can be derived from the respective sensor information in each angular position of the sensor unit.
  • an active sensor unit is advantageously provided, which comprises a transmitting unit and a receiver unit with which reflected sensor information can be detected. In this way, the distance to the target can be determined from the sensor information.
  • the active sensor unit also detects emissions-free objects, for example objects that emit no noise.
  • the active sensor unit comprises optical sensors whose camera provides images as sensor information. From the images of the camera, the structure of the object to be examined and also local zones of particular interest, such as. Damage, easily visible or derivable.
  • the sensor unit comprises acoustic sensors.
  • a sonar sensor unit distances to an object as well as the direction to this object can be determined.
  • a contour of an object in the surroundings of the underwater vehicle is determined from the detected sensor information, and the sensor unit is aligned in a direction predetermined for the determined contour.
  • the positioning device detects a variation of sensor information from different directions and determines the respective distance to the object in the environment of the underwater vehicle. From the variation of distances thus obtained, the contour of the object in the vicinity of the underwater vehicle can be derived.
  • the sensor unit is then aligned in the direction of one of the sensor information, which is selected according to a predetermined criterion for the determined contour from the variation of sensor information. Guidelines for aligning the sensor unit are electronically stored or stored in an advantageous embodiment for certain contours in the positioning.
  • the sensor information is provided by a multi-beam active sonar, ie, a sonar having a plurality of reception directivity characteristics pointing in different directions.
  • the multibeam active sonar provides in a detection sector a plurality of sensor information, each associated with a direction and a distance. With a suitable tuning of the active sonar and appropriate evaluation contours are derived from the acoustic sensor information, which can also be visualized if necessary, for example. On monitors. With a sonar will also be in Situations in which optical sensor units are less effective, such as in murky waters, accurate positioning of the sensor carrier and adjustments to changing contours and structures possible.
  • the criterion for the alignment of the sensor unit is preferably the size of the determined distances.
  • An orientation according to the largest determined distance or the smallest distance can be predetermined for the respective contour. Also certain distances corresponding to certain angular relationships between the sensor unit and the structure or contour to be examined may be specified as a criterion for the orientation.
  • the sensor unit is advantageously aligned in the direction corresponding to the shortest distance of an object, so that the detection range of the sensor unit is optimally utilized.
  • other criteria for the distance to the positioning of the sensor unit may be predetermined.
  • the sensor unit is positioned at the furthest distance previously determined in the evaluation of the sensor information.
  • the position of the sensor unit is tracked to the criterion.
  • the rotatable sensor carrier is moved with the at least one sensor unit in an automated process until the alignment corresponds to the predetermined criterion.
  • the sensor unit When evaluating the sensor information, the projection is compared with the transmitted light image and an incongruity of the projection of the original light image is determined and the geometry of the original light image used as a criterion for the positioning of the sensor unit.
  • the sensor carrier and thus the sensor unit is aligned by movement in the circumferential direction and / or pivoting direction in accordance with a determined deviation such that the thus detected projection is as congruent with the light image. This procedure is based on the knowledge that when the light image does not strike the surface perpendicular to a surface, the projection is distorted in accordance with the inclined structure of the object.
  • the light image is generated with laser light, so that a high range is given.
  • a laser projection system is provided in the sensor carrier, for example the sensor head.
  • the geometry of the projection also changes, from which it is possible to draw conclusions about the deviation of the actual position of the sensor unit from the optimum target sensor unit.
  • a light image with parallel lines is used, resulting in a non-frontal position of the sensor unit an oblique, that is no longer parallel position of the lines on the projection.
  • a light image is transmitted with crossed line bundles, each with parallel lines, so that conclusions about the orientation of the sensor unit in two dimensions are possible.
  • the movable sensor carrier comprises both a laser projection system with camera as an optical sensor unit and an active sonar (multibeam sonar). Both systems can be used together if required.
  • Fig. 1 shows an unmanned underwater vehicle 1 with an at least partially cylindrical, in particular tubular or torpedo-shaped hull 2, at the rear 3, a main drive 4 is arranged.
  • the unmanned underwater vehicle 1 is an autonomous underwater vehicle in the illustrated embodiment, which carries out its mission without communication.
  • a control device 5 is arranged in the hull 2, which is preset by operating software and / or a mission program, which is stored in a memory 6, control information.
  • the underwater vehicle 1 has at least one sensor unit 7, the sensor information 8 of the control device 5 are entered.
  • the control device 5 autonomously determines control commands for the operating devices of the underwater vehicle on the basis of the control information given by the mission program 6 and the sensor information 8 with its operating software 1, eg. For the navigation or to control the drive 4 and steering the underwater vehicle. 1
  • the unmanned underwater vehicle 1 is remotely steered and receives control information 9 via a connection cable 10 from a system platform, which in Fig. 1 is shown as a seagoing ship 11.
  • the system platform 11 may also be localized to perform underwater underwater inspections with a ROV.
  • the at least one sensor unit 7 is movably arranged in a tangential direction 12 of the underwater vehicle and can be positioned by a positioning device 13 in the tangential direction 12.
  • the positioning device 13 comprises an electronic computer unit with which the received sensor information 8 is evaluated in accordance with operating software and output values are determined.
  • the positioning device 13 can be an independent computer unit or can also be integrated in the control device 5.
  • the tangential direction 12, in which the sensor unit 7 can be positioned, lies tangentially to the longitudinal axis 14 of the underwater vehicle 1.
  • the longitudinal axis 14 corresponds to the straight ahead of the underwater vehicle 1 and extends between its tail 3 and its bow 15th
  • a mobility of the sensor unit 7 in the circumferential direction 12 is given by the fact that the sensor unit 7 is arranged on a sensor carrier which is rotatably arranged in the tangential direction 12 on the hull 2.
  • the sensor carrier is designed as a rotatable sensor head 16, which is arranged on the bow 15 of the underwater vehicle 1.
  • the bow 15 provides a flow-mechanically favorable location for the arrangement of the sensor unit 7.
  • the sensor head 16 is rotatable by an actuator 17 in the circumferential direction 12, wherein the actuator 17 for adjusting the angular position of the sensor head 16th and the associated positioning of the sensor unit 7 receives setting commands from the positioning device 13.
  • the sensor unit 7 is arranged in addition to the tangential direction 12 in a pivoting direction 18 movable, i. pivotable about an axis perpendicular to the longitudinal axis 14 or perpendicular to a plane parallel to the longitudinal axis 14 of the underwater vehicle 1 axis.
  • the sensor unit 7 can be positioned in the swivel direction 18 by the positioning device 13.
  • the sensor head 16 not shown here adjusting means, which are controlled by the positioning device 13.
  • As a means for positioning in the pivoting direction 18 may also be provided an actuator, which is controlled by the positioning device 13 via setting commands.
  • the rotatable sensor carrier is designed as a sensor ring 19, which is rotatably arranged on the circumference of the hull 2.
  • the rotatable sensor ring 19 is instead of the rotatable sensor head 16 in the embodiment according to Fig. 1 intended.
  • the sensor ring 19 is rotatable in the tangential direction 12 of the underwater vehicle 1, wherein the sensor units 7 of the sensor ring 19 - as already to Fig. 1 described - are positionable in a pivoting direction 18.
  • the sensor ring is advantageously mounted on a rotary belt and comprises a housing made of a material which is permeable to the operating signal of the sensor unit 7.
  • the sensor ring 19 is advantageously made of glass, which is translucent, and / or of a material which is sound-permeable.
  • the unmanned underwater vehicle 1 ' according to Fig. 2 Incidentally, this already corresponds to the already too Fig. 1 described structure.
  • the sensor units 7 of a in Fig. 2 Not shown positioning positioned in tangential direction 12 and in the pivoting direction 18, so that an optimal alignment is carried out on an object to be examined.
  • the sensor unit 7 is an active sensor, which comprises a transmitting unit and a receiver unit, so that the sensor unit can detect signals transmitted from it after reflection on an object and can provide corresponding sensor information 8 about the object.
  • the respective distance to the destination can be derived from the sensor information 8 of an active sensor unit.
  • the sensor unit 7, which is used for positioning the sensor head 16, may be an optical sensor unit or a sonar sensor unit.
  • the sensor head 16 may have a plurality of sensor units 7 which are distributed in the tangential direction, so that rotational movements of the sensor head 16 during positioning are reduced.
  • both optical sensor units and sonar sensor units are arranged on the sensor head 16, or further sensor units are provided for examining the surroundings of the underwater vehicle 1.
  • the sensor units arranged on the sensor head 16 at least one is used for positioning the sensor head 16 and connected to the positioning device 13. In this case, an alignment of other sensor units arranged on the sensor head 16 can also take place via the sensor signals 8 of the sensor unit 7 used for positioning. Corresponding algorithms can be stored in the positioning device.
  • the sensor head 16 comprises a camera and a laser projection system as well as an active sonar (multibeam sonar).
  • the control information acts back on itself, so that an optimization of the sensor alignment takes place during the positioning processes.
  • the positioning device detects the sensor information 8, the information about may contain an object in the vicinity of the underwater vehicle or contains in the environment of an object.
  • the distance 21 to the object is determined.
  • the determined distance 21 is compared in a comparison step 22 with a predetermined criterion 23 with respect to the size of the distance.
  • the predetermined criterion 23 can be as small a distance as possible or as large a distance as possible, or else another indication of the distance.
  • comparison step 22 the distance of the current sensor information 8 is compared with previously acquired values.
  • an adjustment command 24 is sent to the actuator 17. In that case, the rotatable sensor carrier is further rotated, so that the sensor unit is positioned differently. As soon as the determined distance meets the criterion, the sensor unit is optimally positioned.
  • the criterion 23 is given based on the respective contour of an object.
  • the distance 21 next to the comparison step 22 in a contour determination 25 is used.
  • the positioning device detects a variation of sensor information 8 from different directions. From the sensor information 8 determines the respective distance 21 to the object in the environment of the underwater vehicle. From the variation of distances thus obtained, a contour 26 of the object in the vicinity of the underwater vehicle can be derived.
  • a criterion specification 27 determines the appropriate criterion 23 of the size of the distance for the determined contour 26. For certain contours 26, corresponding criteria 23 are determined and stored in advance.
  • the sensor unit By positioning in accordance with the predetermined size of the distance 21, the sensor unit is automatically aligned in the direction of that sensor information 8 which is selected according to the criterion 23 predetermined for the determined contour 26 from the variation of sensor information.
  • Embodiments for the orientation of the sensor unit after the determined distance show 4 and FIG. 5 in each of which a plan view of the sensor head 16 of an underwater vehicle is shown.
  • the underwater vehicle is in front of a flat contour, for example a vertical harbor wall 28. As soon as the sensor unit 7 of the sensor head 16 locates the harbor wall 28, the sensor unit 7 is positioned.
  • the sensor head 16 For positioning the sensor unit 7 with respect to the wall 28, the sensor head 16 is rotated in the circumferential direction 12, whereby the sensor unit 7 sends and receives signals in different angular positions and therefore the positioning means a variation of sensor information 8, 8 ', 8 ", 8"' of the Detected sensor unit 7 from different directions.
  • a distance to the object is determined. From the different distances in different directions, the contour of the wall 28 in the detection range of the sensor unit can be determined. After determining the contour of the object, namely here the flat surface of a wall 28, the sensor unit 7 is brought into an angular position corresponding to the direction of those sensor information 8, 8 ', 8 ", 8"' whose determined distance the predetermined criterion corresponds to the size of the distance, for example, corresponds to the criterion of the largest distance. In the illustrated embodiment of a flat surface, the shortest distance is specified as a criterion for the size of the distance for the positioning of the sensor unit.
  • the sensor head continues its positioning movement.
  • the achievement of the criterion of the smallest distance is determined as soon as an increasing distance is determined for the first time.
  • the sensor unit 7 is thus positioned exactly frontally in front of the wall and thereby captures the largest possible area.
  • the positioning of the sensor unit 7 is automatic and thereby very quickly.
  • changing structures can be detected and several structures in shorter Shown time, for example, vertical walls with different structures, ship hulls or overhangs on underwater mountains.
  • the sensor head and a sector in the vicinity of the underwater vehicle to be examined which was poorly detectable in the previous orientation of the sensor unit.
  • the sensor can be turned upwards from a downward position.
  • larger sensor areas can be detected by the automatic positioning, since the sensor unit is automatically aligned in the respectively optimum position with respect to the surface to be examined.
  • the positioning of the sensor unit 7 is carried out automatically and independently of an operator, so that in a remote-controlled underwater vehicle (ROV), the vehicle can still be controlled manually, while simultaneously with changing surface structures of the objects to be examined, the sensor unit is automatically positioned.
  • ROV remote-controlled underwater vehicle
  • the sensor unit 7 is a sonar
  • positioning can be carried out in a simple embodiment with a three-point measurement, wherein sensor information is recorded in three different positions of the sensor carrier, from which the respective distance of the reflective object is determined. From the variation of three distances, the shortest distance, the direction of the shortest distance for the positioning of the sensor unit is selected after the criterion specified for the contour, ie for a flat surface, the shortest distance.
  • the sensor information is detected by a multi-beam active sonar so that a variation of many sensor information from different directions is provided for the determination of the contour.
  • the positioning device is provided with different criteria for determining the direction from the variation of the determined sensor information and associated distances.
  • Fig. 5 By way of example, a situation is shown in which an object to be examined forms a corner 29. This situation is typical for the study of port installations, where, for example, vertical walls 28 are erected on a ground 30. Close examination and fast and precise positioning is desirable, particularly in the region of the bottom 30, to detect under-flushing of the wall 28.
  • corner 29 is examined, this contour is given the longest distance as a criterion for the size of the distance after which the sensor unit 7 is positioned.
  • a variation of sensor information 8, 8 ', 8 is detected during movement of the sensor head 16 in the circumferential direction 12. If the result of an evaluation of the sensor information 8, 8', 8" is the presence of a corner contour, the criterion for the Positioning of the sensor unit 7 given the largest distance. The sensor unit 7 is automatically positioned in the direction of the sensor information 8 with the longest distance to the underwater object, which exactly corresponds to the orientation of the corner 29.
  • Fig. 6 illustrates the positioning of an optical sensor unit, wherein the sensor unit 7 (FIG. Fig. 1 to 4 ) transmits a light image 31 and detects a projection 32 of the light image 31 on a wall 28 to be examined.
  • the sensor unit comprises a laser projection system and a camera for this purpose. With the high energy density of the laser light, light images 31 can be projected onto the structures to be examined even in murky waters.
  • the projection 32 is distorted.
  • a deviation of the geometry of the projection 32 from the transmitted light image is determined and the sensor unit is positioned such that the projection 32 is as congruent as possible to the original light image 31.
  • the (original) geometry of the light image 31 is used by the positioning device as a criterion for the orientation of the sensor unit 7.
  • the light image 31 has two crossed line bundles, each with parallel lines 33, 34. These line structures can be accurately with the laser light of the laser projection system.
  • the projection 32 will not reproduce the crossed line bundles in parallel, but askew or askew. From the angle between the original parallel lines, the appropriate alignment measure can be derived.
  • the sensor unit With the light image 31 with crossed line bundles and the resulting two-dimensional information about the surface of the wall 28 to be examined, the sensor unit can be positioned precisely in the tangential direction 12 and in the pivoting direction 18 (FIG. Fig. 1 ) are matched and adapted to the structure of the wall 28.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
EP11178897.2A 2010-08-31 2011-08-25 Véhicule sous-marin inhabité et procédé de fonctionnement d'un véhicule sous-marin inhabité Active EP2423101B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010035898A DE102010035898B3 (de) 2010-08-31 2010-08-31 Unbemanntes Unterwasserfahrzeug und Verfahren zum Betrieb eines unbemannten Unterwasserfahrzeugs

Publications (3)

Publication Number Publication Date
EP2423101A2 true EP2423101A2 (fr) 2012-02-29
EP2423101A3 EP2423101A3 (fr) 2018-02-28
EP2423101B1 EP2423101B1 (fr) 2019-12-04

Family

ID=44514573

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11178897.2A Active EP2423101B1 (fr) 2010-08-31 2011-08-25 Véhicule sous-marin inhabité et procédé de fonctionnement d'un véhicule sous-marin inhabité

Country Status (6)

Country Link
US (1) US8701584B2 (fr)
EP (1) EP2423101B1 (fr)
JP (1) JP2012051561A (fr)
AU (1) AU2011204919B2 (fr)
CA (1) CA2747128C (fr)
DE (1) DE102010035898B3 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3620367A1 (fr) * 2018-09-05 2020-03-11 ATLAS MARIDAN ApS Détection optique de poissons en bancs

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101358320B1 (ko) 2012-07-13 2014-02-11 삼성중공업 주식회사 작업 로봇
DE102012016052A1 (de) * 2012-08-14 2014-02-20 Atlas Elektronik Gmbh Einrichtung und Verfahren zum Abbau von Feststoffen am Meeresgrund
AU2013204965B2 (en) 2012-11-12 2016-07-28 C2 Systems Limited A system, method, computer program and data signal for the registration, monitoring and control of machines and devices
US20140319076A1 (en) * 2013-04-29 2014-10-30 Sergey Galushko Oil spill response submarine and method of use thereof
FR3010799B1 (fr) 2013-09-13 2015-08-28 Thales Sa Systeme de detection et de localisation d'objets immerges flottant entre deux eaux tels que des mines a orins et procede associe
IL228660B (en) 2013-10-01 2020-08-31 Elta Systems Ltd Underwater system and method therefor
US10787234B2 (en) * 2014-05-23 2020-09-29 Hegel Industrial Solutions Pty Ltd Data capture device and system
JP6591301B2 (ja) * 2016-01-27 2019-10-16 国立研究開発法人産業技術総合研究所 水上ロボットの位置制御システムおよび位置制御方法
US10450040B2 (en) 2017-03-03 2019-10-22 Houston Mechatronics, Inc. Re-configurable subsea robot
FR3066996B1 (fr) 2017-06-02 2022-07-01 Kopadia Systeme collaboratif de vehicules subaquatiques de suivi d'elements lineaires immerges et procede mettant en oeuvre ce systeme
KR102107020B1 (ko) * 2018-01-04 2020-05-06 국방과학연구소 양상태 음향 탐지가 적용된 어뢰 위치 정보 획득 장치 및 방법
CN108759725B (zh) * 2018-03-27 2020-05-08 广船国际有限公司 一种水下轴线测量方法及测量装置
KR101901819B1 (ko) * 2018-04-11 2018-11-07 한국해양과학기술원 Rov 위험 경고 및 충돌방지 시스템 및 방법
DE102018110659A1 (de) * 2018-05-03 2019-11-07 Subdron Gmbh Verfahren zum Steuern eines Unterwasserfahrzeugs
DE102018217211A1 (de) * 2018-10-09 2020-04-09 Siemens Aktiengesellschaft Drohne zur Auslösung von Seeminen mit elektrischem Antrieb
CN109541625B (zh) * 2018-11-27 2020-10-09 中国农业大学 植保无人机飞行参数测量方法及系统
CN111623777B (zh) * 2020-05-12 2021-10-15 清华大学 一种基于场强信息的等值线跟踪方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1987000501A1 (fr) 1985-07-23 1987-01-29 Hydrovision Ltd. Hublot d'observation pour vehicules sous-marins
DE102004062122B3 (de) 2004-12-23 2005-12-22 Atlas Elektronik Gmbh Verfahren zum Detektieren und Neutralisieren von Unterwasserobjekten

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3757725A (en) * 1971-09-24 1973-09-11 Us Navy Right spherical segment-glass shell-to metal-joint
US3880103A (en) * 1972-08-21 1975-04-29 Us Navy Tethered mine hunting system
EP0169219B1 (fr) * 1984-01-17 1990-03-28 Underwater Systems Australia Limited Vehicule sous-marin commande a distance et methode de fonctionnement
FR2583902A1 (fr) * 1985-06-24 1986-12-26 Cavalero Caroline Dispositif de reperage, de positionnement et de guidage de vehicules automoteurs sous l'eau
DE3908575A1 (de) 1989-03-16 1990-09-20 Laukien Guenther Unterwasserfahrzeug mit einem passiven optischen beobachtungssystem
US5596549A (en) 1995-07-06 1997-01-21 Northrop Grumman Corporation Side look sonar apparatus and method
JP2796086B2 (ja) * 1996-10-28 1998-09-10 運輸省第一港湾建設局長 可搬式水中レーザーテレビ
SE523115C2 (sv) * 2001-07-30 2004-03-30 Martin Pehrson Autonomt system för undervattensinspektion
DE102004055372A1 (de) * 2004-11-08 2006-05-11 Valeo Schalter Und Sensoren Gmbh Einparkhilfe für ein Fahrzeug und Einparkhilfeverfahren
JP4780614B2 (ja) * 2006-04-10 2011-09-28 アルパイン株式会社 車体挙動測定装置
US8220408B2 (en) * 2007-07-31 2012-07-17 Stone William C Underwater vehicle with sonar array
US20100153050A1 (en) * 2008-11-11 2010-06-17 Zumberge Mark A Autonomous Underwater Vehicle Borne Gravity Meter
CA2716451A1 (fr) * 2010-10-01 2012-04-01 Hydro-Quebec Robot submersible de fraisage

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1987000501A1 (fr) 1985-07-23 1987-01-29 Hydrovision Ltd. Hublot d'observation pour vehicules sous-marins
DE102004062122B3 (de) 2004-12-23 2005-12-22 Atlas Elektronik Gmbh Verfahren zum Detektieren und Neutralisieren von Unterwasserobjekten

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3620367A1 (fr) * 2018-09-05 2020-03-11 ATLAS MARIDAN ApS Détection optique de poissons en bancs

Also Published As

Publication number Publication date
EP2423101B1 (fr) 2019-12-04
AU2011204919A1 (en) 2012-03-15
US20120048171A1 (en) 2012-03-01
AU2011204919B2 (en) 2012-08-23
US8701584B2 (en) 2014-04-22
CA2747128C (fr) 2014-07-08
JP2012051561A (ja) 2012-03-15
CA2747128A1 (fr) 2012-02-29
DE102010035898B3 (de) 2012-02-16
EP2423101A3 (fr) 2018-02-28

Similar Documents

Publication Publication Date Title
DE102010035898B3 (de) Unbemanntes Unterwasserfahrzeug und Verfahren zum Betrieb eines unbemannten Unterwasserfahrzeugs
DE102010035899B4 (de) Unbemanntes Unterwasserfahrzeug und Verfahren zum Betrieb eines unbemannten Unterwasserfahrzeugs
EP1761759B1 (fr) Procede pour commander une installation de controle de tubes et pour evaluer les donnees de controle
EP2435998A1 (fr) Procédé de commande d'un bateau assisté par ordinateur
EP2838788B1 (fr) Méthode pour récuperer une embarcation sous-marine, dispositif de récuperation, sous-marine avec dispositif de récuperation, embarcation sous-marine pour le même et systéme avec le même.
EP1827964B1 (fr) Procede pour detecter et neutraliser des objets sous-marins
EP2830934B1 (fr) Système sous-marine et méthodo pour l'operation du même
WO2006042665A1 (fr) Procede pour determiner des angles de timon et de remorque
WO2010007115A2 (fr) Système et procédé d'évitement de collision
DE102010056539A1 (de) Kopplungskopf, Kopplungseinrichtung mit Kopplungskopf, daran ankoppelbarer Rendezvouskopf, Rendevouseinrichtung mit Rendezvouskopf, Unterwasserfahrzeug damit, Kopplungssystem, Kopplungsverfahren und Einsatzverfahren für ein Unterwasserfahrzeug
DE202012100128U1 (de) Erfassungssystem zur Informationsgewinnung in rohrartigen Elementen
EP1827965A1 (fr) Dispositif et procede de suivi d'un sous-marin
WO2013139563A1 (fr) Procédé de détermination de distance, procédé de réglage de distance et procédé d'inspection d'un tunnel inondé au moyen de ces procédés, ainsi que dispositif de détermination de distance, dispositif de réglage de distance et véhicule submersible équipé de tels dispositifs
EP2440449B1 (fr) Procede de reperage d'anomalies sur un objet sous-marin
EP3722197A1 (fr) Système de compensation de mouvement entre deux objets, véhicule doté dudit système, structure fixe dotée dudit système et procédé doté dudit système
EP3599510B1 (fr) Système d'inspection de cavités
AT522028B1 (de) Verfahren sowie 3D-Sensoreinheit zum Bestimmen von dreidimensionalen Koordinaten von Punkten auf der Oberfläche eines Objekts
EP1915239B1 (fr) Procédé pour générer l'image d'un environnement
DE102018215052B3 (de) Optische Erfassung von Fischen in Schwärmen
DE102022205182B4 (de) Verfahren zur Steuerung einer Kamera eines Kanalrohrinspektionsgerätes sowie Kanalrohrinspektionsgerät mit angeordneter Kamera
DE102019211674A1 (de) Verfahren und Vorrichtung zum Ausgeben eines Steuersignals an eine Einheit einer mobilen Arbeitsmaschine, insbesondere einer Hubarbeitsbühne
DE3213709A1 (de) Vorrichtung zur erfassung eines im wasser befindlichen objektes und zur relativen vermessung des objektes unter ausnutzung von referenzobjekten
DE102011000509A1 (de) Verfahren zum Aufnehmen eines verlegbaren Brückenelements und Brückenverlegefahrzeug
DE19726999A1 (de) Verfahren zum horizontalen Ausrichten der Empfangsebene eines Aktivsonars
WO2016037734A1 (fr) Procédé et dispositif permettant de récupérer un véhicule sous-marin autonome

Legal Events

Date Code Title Description
AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIC1 Information provided on ipc code assigned before grant

Ipc: B63G 8/38 20060101ALI20180123BHEP

Ipc: B63C 11/42 20060101AFI20180123BHEP

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: ATLAS ELEKTRONIK GMBH

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17P Request for examination filed

Effective date: 20180828

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

17Q First examination report despatched

Effective date: 20180919

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20190612

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

INTC Intention to grant announced (deleted)
GRAR Information related to intention to grant a patent recorded

Free format text: ORIGINAL CODE: EPIDOSNIGR71

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

INTG Intention to grant announced

Effective date: 20191021

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1209064

Country of ref document: AT

Kind code of ref document: T

Effective date: 20191215

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502011016292

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20191204

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200305

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200404

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502011016292

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

26N No opposition filed

Effective date: 20200907

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502011016292

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200831

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200831

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200825

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20200831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210302

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200825

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200831

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1209064

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200825

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200825

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191204

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230530

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20230825

Year of fee payment: 13

Ref country code: GB

Payment date: 20230822

Year of fee payment: 13