EP2830934B1 - Système sous-marine et méthodo pour l'operation du même - Google Patents

Système sous-marine et méthodo pour l'operation du même Download PDF

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Publication number
EP2830934B1
EP2830934B1 EP13710283.6A EP13710283A EP2830934B1 EP 2830934 B1 EP2830934 B1 EP 2830934B1 EP 13710283 A EP13710283 A EP 13710283A EP 2830934 B1 EP2830934 B1 EP 2830934B1
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EP
European Patent Office
Prior art keywords
vehicle
underwater
relay
relay vehicle
underwater vehicle
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Application number
EP13710283.6A
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German (de)
English (en)
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EP2830934A1 (fr
Inventor
Sven-Christian Hesse
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Atlas Elektronik GmbH
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Atlas Elektronik GmbH
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Publication of EP2830934A1 publication Critical patent/EP2830934A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • the invention relates to a Unterwasserarbeitssystem with at least one autonomous underwater vehicle and an unmanned, floating on the water surface, relay vehicle, according to the preamble of claim 1.
  • the invention also relates to a method for operating an underwater waterworking system, wherein at least one autonomous underwater vehicle internally with an unmanned, at the water surface floating and driven relay vehicle communicates and the relay vehicle communicates externally via a radio antenna.
  • Unmanned underwater vehicles open up a variety of underwater capabilities and, compared to manned submersibles, can reach greater working depths and work in environments too dangerous for manned systems or divers.
  • Autonomous underwater vehicles include their own power supply and do not require communication with a human operator during a mission. Rather, they follow a predetermined mission program. After carrying out the mission program, the autonomous underwater vehicle also emerges on its own and is salvaged, for example by a mothership.
  • the autonomous underwater vehicle is usually equipped with suitable sensors, for example sonar sensors.
  • suitable sensors for example sonar sensors.
  • ROVs remotely operated vehicles
  • autonomous Underwater vehicles usually driven by a tail propeller and are particularly suitable for large-scale or large-scale reconnaissance under water.
  • autonomous underwater vehicles are advantageously used for cable and pipeline inspection or for mine search.
  • ROV remote controlled underwater vehicles
  • an underwater working system in which a supply and control line of an unmanned remote controlled underwater vehicle (ROV) is connected to a floating on the water surface radio buoy.
  • the radio buoy is equipped with a radio antenna and a receiving and transmitting unit.
  • the underwater vehicle can be remotely controlled by the mothership via the radio link of the radio buoy and the supply line between the radio buoy and the underwater vehicle.
  • the ATV By communicating the connection between the mothership and the RCM via the radio buoy, the ATV can operate in its localized working space at a greater distance from the mothership than would be possible with a direct connection from the submersible to the mothership.
  • WO 91/13800 discloses a system for underwater explorations with autonomous underwater vehicles, which are of identical construction and one each Internal combustion engine and an electric motor and a battery.
  • One of the underwater vehicles is located on the water surface, with the internal combustion engine charging the battery.
  • the subsurface underwater vehicle is in radio communication with a mothership.
  • the other underwater vehicle works underwater and is powered by its electric motor.
  • the two underwater vehicles communicate wirelessly via an acoustic or optical connection. Once the battery of the active submersible submersible is exhausted, the submersibles change places.
  • the wireless connection transmits images from the active underwater vehicle to the mothership, first via the wireless connection to the surfaced underwater vehicle and then via the radio link of the submarine vessel that has appeared.
  • the known underwater work system is intended for local investigation of the underwater world, for example, to explore a wreck.
  • a large-scale reconnaissance under water for example, to clarify an underwater area in the context of mine control or for the inspection of long pipelines, the stationary operating known underwater work system is unsuitable.
  • the WO 2012/037174 A2 discloses a buoy and system for monitoring divers and other underwater objects.
  • the buoy may monitor a diver and obtain position information about the diver and use that information to position themselves for further monitoring.
  • the buoy may use an acoustic communication device to communicate with the diver and determine the diver position, biometric and other data.
  • the buoy comprises a propulsion system and via an acoustic communication module, the diver can control the buoy to an effective range.
  • acoustic communication is mandatory, as a possible physical connection, for example by means of a rope or hose for reasons of risk is not allowed.
  • a data transmission rate is limited by the acoustic communication, so that real-time capability can not be ensured.
  • the JP S57 196309 A discloses an indirect control system for an underwater vehicle for the monitoring and treatment of explosive materials in which a mother overwater vessel first detects the position of an explosive substance in the sea and then directs a second surface watercraft to that position. By means of a winch at the stern of the surface boat, a remote-controlled underwater vehicle (ROV) on a cable is lowered to a specified depth close to the explosive substance into the sea. Control signals are transmitted wirelessly from the mother's overwater vessel to the overwater boat and from the overwater boat via the cable to the remote-controlled underwater vehicle.
  • ROV underwater vehicle
  • the US 5,396,859 A discloses a submarine system for connecting fiber optic cables, in which a submarine is connected at the rear via a first fiber optic cable to the stern of a remote-controlled underwater vehicle.
  • a second fiber optic cable is connected between an anchor buoy and a torpedo in the water. Controlled by the submarine, the underwater vehicle can approach the anchor buoy in such a way that the two fiber optic cables are connected to start the torpedo.
  • the DE 10 2004 062 124 B3 discloses a device for tracking an underwater vehicle by means of a submerged vehicle Platform using an acoustic positioning system.
  • steering signals can be transmitted from the platform via a steering wire to the drive and control device of the underwater vehicle.
  • the WO 03/045776 A1 discloses a remote mine-hunting system consisting of an underwater vehicle with a surface-extendable antenna and a remote-controlled underwater vehicle (ROV) which are remotely controlled by an external control station on a surface vessel, the remote controlled underwater vehicle (ROV) being powered by a propulsion system Remote monitoring cable is connected to the underwater vehicle.
  • ROV remote-controlled underwater vehicle
  • the present invention is based on the problem to provide an underwater work system with at least one autonomous unmanned underwater vehicle and an unmanned, floating on the water surface relay vehicle and a method of operating such a Unterwasserarbeitssystems, which increased performance of the large-scale underwater reconnaissance with short mission times and a Provide real-time data transmission.
  • an underwater work system with at least one autonomous unmanned underwater vehicle and an unmanned, floating on the water surface relay vehicle having a radio antenna for external communication and a drive
  • the autonomous unmanned underwater vehicle is physically connected via a coupling connection with the relay vehicle
  • said the coupling connection comprises an internal communication device or the coupling connection is a component of the communication device
  • the relay vehicle, the autonomous underwater vehicle and / or the coupling connection are configured such that the relay vehicle by means of a control unit, in particular taking into account navigation information, on the autonomous underwater vehicle is feasible.
  • data can be transmitted bidirectionally between the relay vehicle and the underwater vehicle at higher data rates than with acoustic data transmission.
  • an acoustics-free communication or data transmission can be provided.
  • sudden events can be quickly responded to by, for example, occurring in front of the underwater vehicle, natural (e.g., fish) or technical (submarine) object.
  • natural e.g., fish
  • technical submarine
  • the "coupling link” physically connects the underwater vehicle to the relay vehicle.
  • This coupling connection can be made by a hose or a cable. Physically is to be understood in particular as a contrast to radio or sound.
  • the underwater vehicle can be accessed physically at any time, so that in case of "loss" of the underwater vehicle, time-consuming search maneuvers of the relay vehicle can be omitted.
  • the unmanned relay vehicle floating on the water surface is guided by a control unit taking into account navigation information about the at least one autonomous unmanned underwater vehicle, whereby the autonomous unmanned underwater vehicle operate with virtually unlimited range underwater.
  • the control unit may determine a course for the relay vehicle and may drive its drive accordingly, so that the vehicles of the underwater work system are always in a desired position relative to each other.
  • the relay vehicle and the at least one associated underwater vehicle thus form in particular an autonomous underwater work system, which are navigated as an autonomous group.
  • the unmanned underwater vehicle acquires the mission information acquired during the mission by the sensors of the autonomous underwater vehicle in real time to the relay vehicle.
  • Under navigation information of the autonomous underwater vehicle is to understand information about the driving behavior and the position of the autonomous unmanned underwater vehicle, such as the absolute speed, speed over ground, the orientation of the underwater vehicle, the depth and distance from the relay vehicle and / or sonar information.
  • navigation information which are detected by navigation sensors of the submerged autonomous underwater vehicle and fed to the control unit. Additional navigation information about the relay vehicle and also the autonomous underwater vehicle can be detected by sensors on board the relay vehicle and used for navigation.
  • control unit which guides the relay vehicle is arranged on board the relay vehicle, wherein the navigation information acquired in the submerged marine vehicle is communicated to the relay vehicle via the internal communication device.
  • control unit which controls the relay vehicle, on board the relay vehicle
  • the arrangement of power-consuming systems that process information from and for the autonomous underwater vehicle on board the relay vehicle reduces the energy requirements of the underwater vehicle.
  • the control unit determines a course for the relay vehicle, taking into account the navigation information of all submarines involved, in which the relay vehicle is optimally positioned given to the connected underwater vehicles.
  • the communication device is designed such that it is real-time capable.
  • Real-time capability is especially given when the propagation speed of the transmission is greater than in an acoustic communication. In particular, propagation speeds above 2000 m per second are included. In particular, then real-time capability is ensured when sonar information below the Refresh rates of the sonar can be transmitted to the relay vehicle.
  • a control unit of the relay vehicle and a control unit of the autonomous underwater vehicle are designed such that via the internal communication device navigation information in the direction of the relay vehicle and in the other direction control commands for the underwater vehicle is interchangeable.
  • the underwater work system according to the invention can be directly controlled by a human operator as needed, if desired.
  • the underwater work system with the possibility of continuous information transmission in both directions between the underwater vehicle and a carrier platform allows monitoring of the autonomously operating underwater work system, wherein at any time a control intervention by the operator can take place (“supervised autonomous system").
  • the supervised autonomous underwater work system reduces the mission time and increases the mission's effectiveness by allowing an operator to detect when the underwater vehicle has followed a wrong lane. In this case, a controlled intervention in the autonomous mission program prevents the loss of mission time, which would result in following non-targeting and erroneous investigations.
  • the underwater vehicle information about its current position forwarded is advantageously the underwater vehicle information about its current position forwarded.
  • Reliable information about the position is available in the relay vehicle, which provides precise position data about its position Radio antenna can refer, for example by GPS.
  • the autonomous underwater vehicle can be informed of this GPS position of the relay vehicle, so that the underwater vehicle navigates with the knowledge of the position of the relay vehicle.
  • processing of the GPS data on board the relay vehicle can take place and the underwater vehicle can be informed of its exact position, taking into account the navigation information of the underwater vehicle available in the relay vehicle.
  • the internal communication device comprises an optical fiber cable which connects the relay vehicle with the underwater vehicle.
  • the fiber-optic cable enables powerful data transmission.
  • the control unit of the relay vehicle guides the relay vehicle in consideration of navigation information of the autonomous underwater vehicle such that a tensile load on the optical fiber cable is avoided. It may be advantageous if the control unit, which carries the relay vehicle, can rely on information about the tensile load in the optical fiber cable and controls the relay vehicle according to excessive tensile load. For this purpose, a device for measuring the tensile load can be assigned to the optical waveguide cable.
  • the relay vehicle is tracked to the underwater vehicle, whereby the tensile load of the optical fiber cable is reduced or eliminated.
  • the relay vehicle is controlled with the same course as the underwater vehicle whose course results from the transmitted navigation information.
  • the relay vehicle has means for determining the distance of the Underwater vehicle from the relay vehicle.
  • the relay vehicle is guided on the basis of the navigational information of the underwater vehicle, which can be delivered during the mission of the underwater vehicle, and the current distance.
  • the distance between the underwater vehicle and the relay vehicle is detected by means of an acoustic transmission head ("pinger").
  • the underwater vehicle and / or the relay vehicle on an acoustic transmission head are acoustic transmission heads.
  • the navigation of the underwater vehicle is supported or adopted by the control unit of the relay vehicle, whereby the required computing capacity of the control unit on board the underwater vehicle and thus the power requirements of the underwater vehicle are reduced.
  • the relay vehicle has a sonar connected to its control unit, that is to say devices for locating objects in space and under water by means of emitted sound pulses.
  • the control unit is designed such that evasion maneuvers can be controlled when obstacles are detected by the sonar.
  • the control unit of the relay vehicle recognizes the sonar obstacles in the course of the relay vehicle and initiates evasive maneuvers, for example by a lateral passing of the obstacle, a.
  • the relay vehicle is submersible formed, whereby the relay vehicle, if necessary, evades a very wide object, such as a driving network, by submerging and driving under the obstacle.
  • the relay vehicle comprises a data processing device, which information from the underwater vehicle can be entered. In this case, a preprocessing takes place on board the relay vehicle before the information about the carrier platform is transmitted.
  • the relay vehicle comprises a coding device, by means of which the information to be transmitted or received via the radio antenna can be coded or decoded. The information that transmits the underwater vehicle internally to the relay vehicle is pre-processed before the external communication according to predetermined data processing criteria.
  • the existing data for example, from the existing data, a selection of the information to be sent via the radio link or a compression. Also, the information is protected by a coding on the radio link.
  • Such information which is not required or desired for monitoring the underwater workstation or the mission of the autonomous underwater vehicle by an operator, stored on board the relay vehicle.
  • This information may be read after completion of the mission and salvage of the submersible and, in an advantageous embodiment, will be maintained by radio during the mission on-demand call.
  • the object can be achieved by a method for operating an underwater work system, wherein at least one autonomous, unmanned underwater vehicle internally with an unmanned, at the water surface floating and powered relay vehicle communicates with the relay vehicle communicates externally via a radio antenna, wherein a control unit, the relay vehicle taking into account navigation information on the at least one autonomous unmanned underwater vehicle leads.
  • control unit tracks the relay vehicle to the underwater vehicle.
  • the relay vehicle may be guided on the basis of the navigation information of the underwater vehicle and the current distance between the underwater vehicle and the relay vehicle, the distance being detected in particular by means of an acoustic transmission head on the underwater vehicle and / or on the relay vehicle.
  • the navigation of the underwater vehicle is supported or adopted by a control unit of the relay vehicle.
  • the information transmitted internally by the underwater vehicle to the relay vehicle can be pre-processed according to predetermined criteria, in particular partially stored and partly transmitted.
  • control unit (16) of the relay vehicle (4) detects obstacles (20) in the course of the relay vehicle (4) via a sonar (19) and initiates an avoidance maneuver by passing the obstacle sideways (20) and / or diving in and driving down of the obstacle (20).
  • Fig. 1 shows an underwater working system 1 with an autonomous unmanned underwater vehicle 2 and an unmanned, floating on the water surface 3 relay vehicle 4.
  • the relay vehicle 4 has a radio antenna 5, via which the relay vehicle 4 communicates with a support platform.
  • the carrier platform is a seagoing vessel 6, which likewise carries a radio antenna 7 for communication with the underwater workstation 1.
  • a control console on land or another manned carrier platform can be provided, from which human operators can communicate with the underwater workstation 1 by radio connection even from a greater distance to the relay vehicle 4.
  • the autonomous unmanned underwater vehicle 2 is connected via an internal communication device to the relay vehicle 4, wherein the term "internal" refers to the communication within the underwater work system 1.
  • the communication device comprises both the relay vehicle 4 and the underwater vehicle 2 each have a device for transmitting and receiving data and in the embodiment, a fiber optic cable 8.
  • the optical fiber cable 8 connects the relay vehicle 4 with the underwater vehicle 2 and connects arranged in the respective vehicles facilities for Sending and receiving information.
  • the relay vehicle 4 mediates communication between the sea ship and the submerged one Underwater vehicle 2 during the mission.
  • mission information 9 is transmitted from the autonomously operating underwater vehicle 2 via the optical waveguide cable 8 and the radio link of the relay vehicle 4 to the mother ship 6 in real time during the mission.
  • the underwater vehicle 2 is equipped with a camera 10 and other sensors for detecting its environment, in the exemplary embodiment a sonar 11, whose continuously acquired data are transmitted as part of the mission information 9 via the optical fiber cable 8 to the relay vehicle 4.
  • the underwater vehicle 2 further comprises navigation sensors 12, which are input to a control unit 13 of the underwater vehicle 2 and are based on the autonomous navigation of the underwater vehicle 2.
  • the autonomous unmanned underwater vehicle 2 follows a predetermined mission program and can operate under the guidance of its control unit 13 independently in the underwater area. However, via the radio antenna 5 of the relay vehicle 4, an operator of the underwater work system 1 can supply control information 14, which is forwarded by the relay vehicle 4 via the optical waveguide cable 8 to the underwater vehicle 2.
  • the Unterwasserariassysteml can thus work autonomously, but it is constantly monitored by the external communication with the ship 6. In this case, an operator of the underwater work system can always take control of the unmanned underwater vehicle. This is particularly advantageous when monitoring of the underwater workstation 1 proves that the underwater vehicle 2 has been subject to an error based on the given autonomous mission program, for example, has erroneously detected or identified an underwater object.
  • the underwater vehicle control information 14 includes not only the human operator Control commands, but also other information which is prepared on the relay vehicle 4 for use on the autonomous underwater vehicle, in particular information for navigation.
  • a regular transmission of position information is advantageous, which is available on board the relay vehicle 4 and, for example, very accurately determined by GPS via the radio antenna 5.
  • the relay vehicle 4 is designed as a surface vessel to constantly maintain radio contact with the carrier platform and has a drive 15.
  • the relay vehicle 4 further comprises a control unit 16 which guides the relay vehicle 4 and drives the drive 15 according to the intended course and speed.
  • the control unit 16 takes into account navigation information about the autonomous underwater vehicle 2, which is transmitted via the optical waveguide cable 8 in the direction of the mission information 9 to the relay vehicle 4.
  • additional information about the underwater vehicle 2 can be determined by sensors on board the relay vehicle 4.
  • locating means are provided on board the relay vehicle 4 in an advantageous embodiment.
  • an acoustic transmission head 18, a so-called “pinger”, is arranged on one of the two vehicles.
  • the acoustic transmission head 18 is arranged on the unmanned underwater vehicle 2, so that the determination of the distance and the necessary arithmetic operations on board the relay vehicle 4 can take place.
  • On board the underwater vehicle 2 must therefore no additional energy is provided for the distance determination, which is basically limited on board the autonomous underwater vehicle.
  • the relay vehicle 4 also has a sonar 19 in its bow area, with the driving in the water obstacles 20 can be detected in good time.
  • the control unit 16 initiates a corresponding avoidance maneuver by passing sideways or causes the relay vehicle 4 to descend and pass under the obstacle 20.
  • the relay vehicle 4 is in shown embodiment designed for short-term diving maneuvers.
  • the relay vehicle 4 is an underwater vehicle which is used as a relay vehicle 4 on the water surface 3.
  • the relay vehicle 4 By passing under the obstacle 20 can be prevented that wide, underwater obstacles such as nets and the like destroy the sensitive fiber optic cable 8. After driving under the obstacle 20, the relay vehicle 4 immediately reappears and resumes the radio connection to the ship 6.
  • the control unit 16 determines the course of the relay vehicle 4 after evaluation of the navigation information of the unmanned underwater vehicle such that the distance between the two vehicles does not exceed predetermined limits.
  • the control unit 16 determines the course of the relay vehicle 4 such that the relay vehicle 4 is tracked to the underwater vehicle 2. If an excessively large distance is determined when determining the distance between the relay vehicle 4 and the underwater vehicle 2, the control unit determines a new course with which the relay vehicle 4 tracks the underwater vehicle 2.
  • the underwater vehicle 2 can thus operate autonomously, while the relay vehicle 4 is tracked on the water surface 3 and always maintains the external communication of the underwater work system 1 with the ship 6.
  • the internal communication between the control unit 16 of the relay vehicle 4 and the control unit 13 of the autonomous unmanned underwater vehicle 2 is described below, including the external communication via the relay vehicle 4 on the basis of Fig. 2 explained in more detail.
  • the internal communication device 21 which the optical fiber cable 8 according to Fig. 1
  • Missions information 9 is transmitted from the control unit 13 of the underwater vehicle 2, which is recorded during the mission of the camera 10 and other sensors for detecting the environment.
  • the control unit 13 transmits navigation information 17 via the autonomous underwater vehicle 2 to the control unit 16 of the relay vehicle 4.
  • the navigation information 17 can comprise both raw data of the navigation sensors 12 of the underwater vehicle 2 and already prepared navigation information which the control unit 13 of the Underwater vehicle 2 for their own autonomous navigation during the mission from the raw data of the navigation sensors 12 has available.
  • the navigation information 17 transmitted to the relay vehicle may also be a combination of raw data and navigation information already determined in the underwater vehicle.
  • the control unit 13 of the underwater vehicle 2 is linked to the control unit 16 of the relay vehicle 4 in such a way that the navigation of the underwater vehicle 2 is supported or taken over by the control unit 16 of the relay vehicle 4.
  • the navigation information or the of the Navigation sensors recorded measured values from the underwater vehicle 2 directly to the control unit 16 of the relay vehicle 4 transmitted.
  • the control unit 16 of the relay vehicle 4 after evaluating the incoming navigation information 17, sends the control unit 13 of the underwater vehicle corresponding control information 14.
  • the relay vehicle 4 receives corresponding commands via the radio link and forwards corresponding control information 14 to the control unit 13 of the underwater vehicle 2.
  • the control unit 16 determines from an evaluation of the ping signal of the acoustic transmission head 18 (FIG. Fig. 1 Knowing the exact distance results in the exact position of the underwater vehicle 2 relative to the relay vehicle 4.
  • the control unit 16 of the relay vehicle 4 also receives via the radio antenna 5 GPS position signals 22 so that the control unit 16 can precisely determine the actual position of the relay vehicle 4.
  • the actual position of the relay vehicle is determined, which is made available to the underwater vehicle as part of the control information 14.
  • the autonomous navigation of the underwater vehicle can rely on the exact position of the underwater vehicle during the course of the mission program, which can not reliably determine the autonomous underwater vehicle during its mission under water.
  • the control unit 16 determines corresponding control commands 23 for the drive 15 of the relay vehicle 4.
  • the control unit 16 takes into account the incoming measured values of the sonar 19 of the relay vehicle 4, where appropriate avoidance maneuvers are controlled with obstacles 20 lying ahead.
  • navigation sensors 24 are arranged in the relay vehicle, which provide the control unit 16 in the management of the relay vehicle 4 more information.
  • the control unit 16 of the relay vehicle 4 is associated with a data processing device 25, in which the information provided for external communication 26 is preprocessed.
  • a selection of the information desired for the external communication 26 can take place, for example exclusively mission information 9 can be transmitted in real time.
  • the data processing device can also be used for the storage of information, so that corresponding devices on board the underwater vehicle 2 are not required or the power supply of the underwater vehicle 2 is relieved.
  • the external communication 26 takes place in the illustrated embodiment via an encoder 27, which encodes the information provided for external communication 26 or decodes the information received via the antenna and provides the control unit 6. In this way, it is ensured that in the external communication 26 of the underwater work system via the radio antenna 5 encrypted information is transmitted.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Claims (10)

  1. Système de travail sous-marin (1) comprenant au moins un véhicule sous-marin (2) autonome sans équipage et un véhicule relais (4) sans équipage flottant à la surface de l'eau (3), qui comporte une antenne radioélectrique (5) pour la communication externe (26) et un entraînement (15), le véhicule sous-marin (2) autonome sans équipage étant relié de manière physique au véhicule relais (4) par une liaison de couplage, la liaison de couplage comprenant un dispositif de communication (21) interne ou la liaison de couplage étant un constituant du dispositif de communication (21), le véhicule relais (4), le véhicule sous-marin (2) autonome et/ou la liaison de couplage étant configurés de telle manière que le véhicule relais (4) peut être guidé au moyen d'une unité de commande (16), en tenant compte d'informations de navigation concernant le véhicule sous-marin (2) autonome, de sorte que le véhicule sous-marin (2) autonome sans équipage est manoeuvrable sous l'eau avec une portée presque illimitée.
  2. Système de travail sous-marin selon la revendication 1, caractérisé en ce que le dispositif de communication est configuré de manière à être apte à fonctionner en temps réel.
  3. Système de travail sous-marin selon l'une des revendications précédentes, caractérisé en ce qu'une unité de commande (16) du véhicule relais (4) et une unité de commande (13) du véhicule sous-marin (2) sont réalisées de telle manière que des informations de navigation (17) pour le véhicule relais (4) et des informations de commande (22) pour le véhicule sous-marin (2) peuvent être échangées par le biais du dispositif de communication (21) interne.
  4. Système de travail sous-marin selon l'une des revendications précédentes, caractérisé en ce que la liaison de couplage est effectuée au moyen d'un câble à fibres optiques (8), qui relie le véhicule relais (4) au véhicule sous-marin (2) de manière physique.
  5. Système de travail sous-marin selon l'une des revendications précédentes, caractérisé en ce que le véhicule relais (4) et/ou le véhicule sous-marin (2) comporte ou comportent des moyens destinés à déterminer la distance entre le véhicule sous-marin (2) et le véhicule relais (4).
  6. Système de travail sous-marin selon l'une des revendications précédentes, caractérisé en ce que le véhicule sous-marin (2) et/ou le véhicule relais (4) comporte ou comportent un émetteur acoustique (18).
  7. Système de travail sous-marin selon l'une des revendications précédentes, caractérisé en ce que le véhicule relais (4) et/ou le véhicule sous-marin (2) comporte ou comportent un sonar (19), le véhicule relais (4) et/ou le véhicule sous-marin (2) étant en particulier réalisés de telle manière que, lors de la détection d'obstacles (20) par le sonar (19), des manoeuvres d'évitement du véhicule sous-marin (2) et/ou du véhicule relais (4) peuvent être commandées, la commande étant effectuée en particulier par le véhicule (2, 4) qui, respectivement, ne réalise pas l'évitement.
  8. Système de travail sous-marin selon l'une des revendications précédentes, caractérisé en ce que le véhicule relais (4) est réalisé submersible.
  9. Système de travail sous-marin selon l'une des revendications précédentes, caractérisé en ce que le véhicule relais (4) comprend un dispositif de traitement de données (25), dans lequel des informations (9, 17) peuvent être entrées par le véhicule sous-marin (2).
  10. Système de travail sous-marin selon l'une des revendications précédentes, caractérisé en ce que le véhicule relais (4) comprend un dispositif de chiffrement (27), au moyen duquel des informations à envoyer ou à recevoir par le biais de l'antenne radioélectrique (5) peuvent être chiffrées ou déchiffrées.
EP13710283.6A 2012-03-30 2013-02-13 Système sous-marine et méthodo pour l'operation du même Active EP2830934B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012006565A DE102012006565A1 (de) 2012-03-30 2012-03-30 Unterwasserarbeitssystem und Verfahren zum Betrieb eines Unterwasserarbeitssystems
PCT/DE2013/100053 WO2013143528A1 (fr) 2012-03-30 2013-02-13 Système de travail sous-marin et procédé servant à faire fonctionner un système de travail sous-marin

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EP2830934A1 EP2830934A1 (fr) 2015-02-04
EP2830934B1 true EP2830934B1 (fr) 2018-04-04

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US (1) US9669912B2 (fr)
EP (1) EP2830934B1 (fr)
AU (1) AU2013242589B2 (fr)
CA (1) CA2866295C (fr)
DE (2) DE102012006565A1 (fr)
DK (1) DK2830934T3 (fr)
GB (2) GB2506817B (fr)
NO (1) NO2945856T3 (fr)
PT (1) PT2830934T (fr)
WO (1) WO2013143528A1 (fr)

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WO2016038453A1 (fr) * 2014-09-12 2016-03-17 Cgg Services Sa Système et procédé d'acquisition sismique basé sur un auv
CN104777845B (zh) * 2015-04-15 2018-04-03 上海海事大学 水下机器人的水下本体装置及自主避障方法
US20170291670A1 (en) * 2016-04-08 2017-10-12 Texas Marine & Offshore Projects LLC Autonomous workboats and methods of using same
CN107845158B (zh) * 2017-10-08 2019-08-13 浙江大学 一种水下作业仪器的数据回传装置及方法
JP2019089422A (ja) * 2017-11-14 2019-06-13 リュル キム，ドン 水中ドローンを用いた海底探査システム
WO2019113498A1 (fr) * 2017-12-09 2019-06-13 Oceaneering International, Inc. Procédés de commande supervisée de véhicules sous-marins
CN108132631B (zh) * 2018-01-31 2019-12-06 上海彩虹鱼深海装备科技有限公司 一种深海设备供电控制系统及方法
TWI729531B (zh) * 2019-10-17 2021-06-01 國立中央大學 無人載具無線通訊中繼系統
CN112526524B (zh) * 2020-12-09 2022-06-17 青岛澎湃海洋探索技术有限公司 一种基于前视声纳图像和auv平台的水下渔网检测方法
CN112615913B (zh) * 2020-12-09 2022-08-09 大连海事大学 一种面向海洋环境监测的无人机与无人船协同的信息回传方法
US20230061059A1 (en) * 2021-08-25 2023-03-02 Brendan Hyland Compact surveillance system
CN113895580B (zh) * 2021-11-17 2022-11-15 国网智能科技股份有限公司 一种无缆自主水下机器人通信定位装置及方法

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FR2375803A5 (fr) * 1970-04-14 1978-07-21 Ver Flugtechnische Werke Vehicule sous-marin sans equipage
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Publication number Publication date
PT2830934T (pt) 2018-06-06
GB201401862D0 (en) 2014-03-19
AU2013242589B2 (en) 2016-05-12
DK2830934T3 (en) 2018-06-14
CA2866295C (fr) 2019-09-03
DE112013001824A5 (de) 2014-12-11
GB2510990B (en) 2014-10-22
DE102012006565A1 (de) 2013-10-02
CA2866295A1 (fr) 2013-10-03
GB2506817B (en) 2014-07-09
AU2013242589A1 (en) 2014-10-16
EP2830934A1 (fr) 2015-02-04
WO2013143528A1 (fr) 2013-10-03
GB2510990A (en) 2014-08-20
GB2506817A (en) 2014-04-09
US9669912B2 (en) 2017-06-06
US20150046014A1 (en) 2015-02-12
GB201406433D0 (en) 2014-05-21
NO2945856T3 (fr) 2018-07-21

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