EP4043331A1 - Système et procédé d'exploration marine - Google Patents

Système et procédé d'exploration marine Download PDF

Info

Publication number
EP4043331A1
EP4043331A1 EP21157308.4A EP21157308A EP4043331A1 EP 4043331 A1 EP4043331 A1 EP 4043331A1 EP 21157308 A EP21157308 A EP 21157308A EP 4043331 A1 EP4043331 A1 EP 4043331A1
Authority
EP
European Patent Office
Prior art keywords
vessel
exploration
control unit
submersible
central control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP21157308.4A
Other languages
German (de)
English (en)
Inventor
Emmanouil Symigdalas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to EP21157308.4A priority Critical patent/EP4043331A1/fr
Publication of EP4043331A1 publication Critical patent/EP4043331A1/fr
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/30—Monitoring properties or operating parameters of vessels in operation for diagnosing, testing or predicting the integrity or performance of vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2201/00—Signalling devices
    • B63B2201/18—Sonar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2209/00—Energy supply or activating means
    • B63B2209/18—Energy supply or activating means solar energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2209/00—Energy supply or activating means
    • B63B2209/20—Energy supply or activating means wind energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2211/00—Applications
    • B63B2211/02—Oceanography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
    • B63B2213/02—Navigational aids and use thereof, not otherwise provided for in this class using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
    • 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
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis
    • B63H2005/1258—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis with electric power transmission to propellers, i.e. with integrated electric propeller motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B63H2011/008—Arrangements of two or more jet units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H2025/063—Arrangements of rudders forward of the propeller position, e.g. of backing rudders; Arrangements of rudders on the forebody of the hull; Steering gear therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H2025/066—Arrangements of two or more rudders; Steering gear therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63J—AUXILIARIES ON VESSELS
    • B63J3/00—Driving of auxiliaries
    • B63J2003/001—Driving of auxiliaries characterised by type of power supply, or power transmission, e.g. by using electric power or steam
    • B63J2003/002—Driving of auxiliaries characterised by type of power supply, or power transmission, e.g. by using electric power or steam by using electric power
    • B63J2003/003—Driving of auxiliaries characterised by type of power supply, or power transmission, e.g. by using electric power or steam by using electric power using photovoltaic power generation, e.g. using solar panels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63J—AUXILIARIES ON VESSELS
    • B63J3/00—Driving of auxiliaries
    • B63J3/04—Driving of auxiliaries from power plant other than propulsion power plant
    • B63J2003/046—Driving of auxiliaries from power plant other than propulsion power plant using wind or water driven turbines or impellers for power generation

Definitions

  • the present application relates to systems and method for marine exploration. More specifically, the present invention relates to systems and methods for monitoring marine ecosystems and especially coral reef Ecosystems autonomously and with minimal user interference.
  • Marine exploration is essential in understanding marine ecosystems and monitoring changes in their development. Exploring a marine ecosystem is mainly performed by scientific teams deployed to various locations around the globe to physically collect data from the marine ecosystems under study, e.g. coral reefs, and based on the collected data draw monitor changes in their development. Scientific teams use various methods to monitor the desired ecosystem, including scientific diving teams, Remote Operating Vehicles (ROVs), research vessels and scientific personnel. Even though these methods seem to be sufficient, they are restricted by key limitations which affect the quantity and quality of the data collected during field visits to the desired marine exploration site. Such limitations include the cost of organising the scientific expedition, the time taken to collect data, human error, anthropogenic interference in the ecosystem, the ecosystem area covered during each visit, dependence on the weather condition, and the like. To deal with these limitations it is desired to develop improved systems and method for marine exploration that focus on autonomous and automatic monitoring of the desired exploration site.
  • ROVs Remote Operating Vehicles
  • the present disclosure aims to provide improved systems and methods for marine exploration that overcome the limitations of existing solutions.
  • a marine exploration vessel for monitoring a marine exploration site comprising:
  • the operating instructions comprise geolocation coordinates defining an exploration route for the submersible vessel, and information associated with a set of tasks to be performed by the submersible vessel.
  • the marine exploration vessel of the present invention is capable of monitoring a marine exploration site based on a set of predefined instructions, which are pre-loaded in the memory of the central control unit or provided by a central control station over a wireless connection with the surface vessel.
  • the surface vessel is configured to control the operation of the submersible vessel to collect data from the exploration site using the various sensor systems provided in the surface vessel and the submersible vessel.
  • the surface vessel is configured to send operating instructions to the submersible vessel, which comprise the coordinates of an exploration route that the submersible vessel should follow, as well as instructions associated with the tasks that need to be performed along the exploration route, e.g.
  • the submersible vessel is configured to be in direct communication with the surface vessel via the tethered cable for the exchange of data and for receiving electrical energy from the surface vessel. Based on the operating instruction received from the surface vessel, the submersible vessel is configured to autonomously perform the assigned tasks, without any user interference. The submersible vessel is configured to report back to the surface vessel with data collected.
  • the surface vessel comprises a propulsion system comprises a set of electrical turbines and a rudder. The electrical turbines and the rudder are configured to be independently operated by the central control unit..
  • Each electrical turbines may be configured to rotate about a rotating axis e.g. 360 degrees, thereby allowing for a more accurate positioning of the surface vessel on the desired location.
  • the rotation of the electrical turbines is controlled by the central control unit.
  • control unit of the submersible vessel is configured to operate a propulsion system of the submersible vehicle to guide the submersible vessel underwater along the predefined exploration route.
  • the propulsion system comprises a plurality of electrical boosters positioned at predetermined locations on the submersible vessel, each electrical booster being independently operated by the control unit to control the positioning and direction of movement of the submersible vessel.
  • each electrical booster being independently operated by the control unit to control the positioning and direction of movement of the submersible vessel.
  • four electrical boosters may be provided that are positioned in the periphery of the submersible vehicle.
  • one or more of the electrical boosters are configured to rotate about a rotating axis.
  • each electrical booster may be configured to rotate at 360 degrees about the rotating axis, thereby providing greater accuracy in maintaining the positioning of submersible vessel along the exploration route and providing greater flexibility in changing course, e.g. to avoid an obstacle.
  • control unit is configured to determine the positioning of the submersible vessel with respect to the predefined exploration route based on geo-positioning coordinates received from a geo-positioning system of the submersible vessel.
  • control unit upon determining a deviation from the predefined route, is configured to adjust the operation of the electrical boosters.
  • the control unit is configured to independently adjust the electrical boosters' power and rotational direction to maintain the submersible vessel in the desired position along the exploration route.
  • the submersible system comprises an object detection system configured for detecting obstacles along the exploration route and, upon detecting an obstacle, notifying the control unit of the submersible system.
  • control unit is configured upon receiving a notification from the object detection system to determine an alternative route to bypass the detected obstacle.
  • control unit is configured to determine the alternative route by performing the steps of :
  • the central control unit may use a trained neural network to determine an exploration route for the submersible vessel or determine, based on the information provided by the submersible vessel and/or other systems in the surface vessel, whether to terminate the exploration mission. Accordingly, the central control unit is configured to notify a central control station, which may provide additional operating instructions to be followed by the marine vessel.
  • the route selection criteria comprising one or more of: a diversion from the predefined exploration route, power requirements, current environmental conditions, and suitability of the alternative route with exploration mission tasks.
  • the object detection system comprises an imaging device configured for collecting images, and/or a sonar device.
  • the control unit and the central control unit are provided with a trained neural network such as Feedforward Neural Network, Convolution Neural Network, Recurrent Neural Network(RNN), and others.
  • the trained neural network is trained on a set of images and other information associated with submersible exploration.
  • the trained neural network is configured to recognise obstacles and derive its characteristics, e.g. size, type, composition, and the like. Therefore, when an obstacle is detected, the trained algorithm is configured to propose a set of alternative routes in order to bypass the obstacle.
  • the input data used by the trained algorithm may be extracted from images taken from an imaging system of the submersible vessel and/or the surface vessel, or other information obtained from sensing systems such as sonar devices.
  • control unit is configured to operate the plurality of sensing systems according to the operating instructions received from the central control unit.
  • the plurality of sensing systems comprising one or more of an imaging device, and a plurality of sensors configured to monitor specific environmental parameters
  • each sensing system is configured to obtain a predetermined data set from the exploration site.
  • the imaging device comprises a camera positioned at a bottom side of the submersible vessel.
  • the camera is configured to rotate about a rotating axis, e.g. 360 degrees.
  • the control unit of the submersible vessel is configured to operate the sensing systems and other instruments provided, based on the tasks assigned by the operating instructions transmitted by the central control unit.
  • the operating instructions may comprise a list of tasks to be performed by the different instruments/sensors of the submersible vessel at different stages of the exploration routes. As such, it is possible to reduce the energy requirements of the submersible vessels, thereby extending the exploration mission.
  • the control unit may be configured to transmit the collected data after each task or a set of tasks is completed to the central control unit. For example, the control unit may batch, and compress if necessary, the data collected from different tasks, thereby reducing the energy requirements for transmitting data.
  • the surface vessel comprises a magnetic docking station for releasably securing the submersible vessel to the undercarriage of the surface vessel.
  • the magnetic docking station comprises a tethered cable control system configured to control the position of the submersible vessel with respect to the surface vessel.
  • the surface vessel is provided with a magnetic docking station, which is configured to magnetically secure the submersible vessel on the undercarriage of the surface vessel.
  • the magnetic docking station has an advantage over existing solutions in that the submersible vessel may be more easily secure to and released from the surface vessel.
  • the magnetic docking station may comprise an electromagnet, which is operated by the central control unit to secure and release the submersible vessel.
  • the central control unit may be configured to interrupt the electromagnetic field of the magnetic docking station by interrupting the supply of electrical energy to the magnetic docking station.
  • the surface vessel comprises a communication module configured to communicate data with a central control station wirelessly.
  • the surface vessel may be configured to transmit data collected from the submersible vessel and/or sensor systems of the surface vessel to the central control station.
  • the central control station may be configured to transmit commands to the surface vessel, which may comprise data associated with a new exploration mission, additional tasks to be performed by the submersible vessel.
  • the surface vessel comprises an energy generation and storage system, which is connected to a power distribution system configured for distributing electrical energy to the components of the surface vessel and the submersible vessel.
  • the energy generation and storage system may comprise one or more of solar panels, wind turbines, or tidal/wave electricity generators.
  • the electricity generated is stored in a battery system.
  • the central control unit is configured to dynamically determine the power requirements of components in the surface vessel and submersible vessel and accordingly deliver the required electrical power by means of the power distribution system.
  • the central control unit is configured to regulate the electrical power delivered to the submersible vessel, based on the tasks to be performed by the submersible vessel during the exploration mission. Each task to be performed may be associated with one or more components of the submersible vessel, such that the power requirements of each task may be determined.
  • the central control unit is configured to monitor the operation of components and systems of the surface vessel and submersible system to determine faulty component and/or systems.
  • the central control unit is configured, upon detecting one or more faulty components, to notify the central control station and determine a set of follow-up actions to be performed.
  • the follow-up actions may include, but not limited, to wait for a response from the central control station, continue the exploitation mission with a reduced set of tasks, abandoned the mission and return to base.
  • the central control unit is configured to determine the criticality of the faulty component and/o system to the operation of the marine vessel and accordingly determine a follow-up action plan.
  • a monitoring system for marine exploration comprising:
  • the present invention provides a monitoring system that is capable of deploying and motoring a plurality of marine exploration vessels.
  • Each marine vessel is configured to transmit data to a central control station, where the transmitted information is collected and processed.
  • the information received are then presented to a user interface running on a computer terminal of a user.
  • the user interface may be provided with a specific presentation layout, so that information from each marine exploration vessel is easy to be located by the user.
  • the central control station comprises a computing module configured, based on the information received from each marine exploration vessel, to determine a set of follow-up actions, which are presented to the user interface. Based on the user's input to the follow-up actions, the computing module is configured to communicate operating instructions to each marine exploration vessel.
  • the control station may be an electronic control centre communicatively coupled over a communication network with each marine exploration vessel.
  • the electronic control centre may be in the form of an application running on an electronic device of the user, e.g. computer, tablet, phone, and the like.
  • the monitoring system of the present invention it is possible to monitor and control the marine exploration vessel remotely.
  • the provision of the central control station enables a plurality of marine vessels to be deployed within a specified area, each provided with a unique exploration mission. In this way, a greater area of a marine ecosystem may be explored without any human interference.
  • Each marine exploration vessel is autonomously operated based on operating instructions, which may be transmitted and/or loaded by the central control station into a memory of the marine exploration vessel by the central control. Therefore, the present invention provides an improved marine exploration system that is cost-effective, offers greater flexibility in the deployment and monitoring of marine exploration vessels, and requires no human interference.
  • inventive subject matter provides many exemplary embodiments of the inventive subject matter. Although each embodiment represents a single combination of inventive elements, the inventive subject matter is considered to include all possible combinations of the disclosed elements. Thus, if one embodiment comprises elements A, B, and C, and a second embodiment comprises elements B and D, then the inventive subject matter is also considered to include other remaining combinations of A, B, C, or D, even if not explicitly disclosed.
  • FIG. 1 of the present invention shows an exemplified monitoring system for monitoring a plurality of marine exploration vessels, MEV, 100 according to embodiments of the present invention.
  • each marine exploration vessel 100 is connected via a communication network 200, which is preferably wireless, with a central control station 300.
  • a communication network 200 which is preferably wireless
  • the electronic control centre may be a software application running on an electronic device of a user, e.g. a software application running on a computer, table phone, and the like.
  • the software application may be provided with a graphic user interface configured to run on the electronic device, to present to the user information associated with each marine exploration vessel 100, provide follow-up actions, allow the user to prepare new exploration missions, and upload/transmit operating instructions associated with the existing or new exploration mission to each marine exploration vessel 100 via the communication network 200.
  • the user is able to control and monitor the operation of a plurality of marine exploration vessels 100, thereby giving the opportunity of extending the area that can be explored during a single mission.
  • Each marine exploration vessel 100 is configured to receive at a central control unit operating instructions from the ground control station, which at least comprise information on the exploration route to be followed by the marine exploration vessel and the tasks to be completed during the exploration route.
  • the operating instructions may provide the geographic coordinates of the exploration route, and the data to be collected by sensing systems of the marine exploration vessel 100 at specific points along the exploration route.
  • FIG. 2 shows an example of a marine exploration vessel 100 according to the embodiments of the present invention.
  • the marine exploration vessel comprises a surface vessel 110 and one or more submersible vessels 120.
  • the submersible vessel 120 is coupled to the surface vessel 110 via a tethered cable 116, which is configured, in addition to controlling the movement of the submersible vessel 120, to facilitate the exchange of data and transfer electrical power from the surface vessel 110 to the systems of the submersible vessel 120.
  • the surface vessel 110 is configured to remain on the water surface, while the submersible vessel 120 is configured to explore the benthos of the marine exploration site.
  • the submersible vessel 120 may be operated at a different depth, depending on the operating instructions, e.g. the submersible vessel may be operated at a depth of down to 100 metres.
  • the surface vessel 110 is provided with a main compartment 113, which is configured to house the different electrical and electronic systems, e.g. batteries, central control unit, power distribution systems, sensors, GPS system, a communication module, and the like.
  • the main compartment 113 is configured to be waterproof and further designed to sustain changes in the weather conditions, e.g. wind, ice, high temperatures, and the like.
  • the body of the surface vessel 110 is made from a light-weight material with high tensile strength such as Aluminium alloy, Titanium alloy, High Tensile Strength Steel, glass-reinforced plastic material, and the like.
  • the surface vessel 110 is provided with an antenna 111 located on the top side of the main component 113 to allow the system to be tracked and maintain position and route using a GPS system.
  • the antenna allows communication between the marine exploration vessel 100 and the ground control centre 300 to communicate share data via a wireless network 200, such as 3G, 4G, 5G,Wi-Fi or other suitable communication means.
  • a wireless network 200 such as 3G, 4G, 5G,Wi-Fi or other suitable communication means.
  • a substantial portion of the top side of the main compartment is covered with solar panels 112, which are configured to generate electric energy to charge the on-board batteries, such that electrical energy can be distributed to the different components of the surface vessel 110 and the submersible vessel 120 to allow for the autonomous operation.
  • the haul 114 of the surface vessel 110 provides stability and also provides storage space for housing the instrument probes, sensors, cable, computer storage system, and the like.
  • the surface vessel 110 is provided with a rudder 118, which is located at the backside of the surface vessel 110 to steer the marine exploration vessel along the desired exploration route.
  • a magnetic docking station 118 is provided on surface vessel 110, which is configured to cooperate with a corresponding magnetic docking station 122 of the submersible vessel 120 to secure the submersible vessel 120 on the surface vessel 110, when it is not operations.
  • the magnetic docking station 118, 122 offers greater flexibility in securing and releasing the submersible vessel 120.
  • the central control unit may interrupt the magnetic field of the docking station, e.g. by interrupting the electrical power to an electromagnet provided in the magnetic docking station.
  • a cable 116 is provided for attaching the submersible drone 120 with the surface vessel 110 providing it with energy, communication, data transmission, and securing it while monitoring the benthos.
  • the surface vessel also referred to as surface vessel, 110 is provided with a propulsion system for locomotion, which comprises a plurality of independently operated electrical turbines 117, e.g. at least three turbines.
  • the turbines 117 are configured to be operated by the central control unit and can function independently from one another or as a group to maintain a position or a specific pre-ordered route.
  • the turbines 117 are attached to the main compartment 113 of the surface vessel 110.
  • the electrical turbines are configured to operate independently , thereby enabling the accurate positioning of the surface vessel 110 at the desired location, and further enabling to perform manoeuvres while travelling with the help of a rudder 115 as well, e.g. to avoid obstacles.
  • a set of lights 119 may be provided on the surface vessel 110 so that the light is visible at night.
  • Figure 3 shows a side view of the surface vessel 110.
  • the surface vessel 110 is configured to perform, among other functions:
  • FIG 4 shows an example of an energy generation and storage system 1111 of the surface vessel 110.
  • the surface vessel may be provided with solar panel and wind generators, so that electrical power can be generated to power the different systems of the surface vessel 110 and the submersible vessel 120.
  • Other means of generating electrical energy may also be provided, e.g. wave energy generation means.
  • the energy generated from the solar panels and wind generator is collected at corresponding solar and wind energy collection system 1112, 1113, where the electrical energy may be transformed to electrical energy that can be stored and distributed to the other systems.
  • the electrical energy is then transferred from the energy collector systems to the energy storage and distribution system 1111, where it distributed by means of the computer system of the central control unit 1116 to the other components.
  • the central control unit may calculate each component's energy requirements and system of the surface vessel 110 and submersible vessel 120 and accordingly distribute the corresponding electrical energy. Furthermore, the central control unit may control the operation of the different systems, to control the amount of electrical energy used. For example, if the stored electrical energy is not sufficient to power all components and systems, then the central control unit may decide to shut down the operation of the less critical components, e.g. components that are not necessary for the exploration mission.
  • the energy storage and distribution system 1112 may be provided with a back-up battery, storing back-up energy that can be used in case of an emergency, e.g., returning the marine exploration vessel to the base.
  • Figures 5 and 6 show an example of a submersible vessel 120, also referred to as a submersible drone, configured to explore the benthos of an exploration site according to embodiments of the present invention.
  • the submersible vessel 120 is tasked to collect data underwater from the exploration site using an array of sensors and instruments.
  • the submersible drone 120 is further equipped with a camera 123 on the bottom side, giving the opportunity to capture 360-degree images or videos, which are analysed by an Al control unit.
  • the camera 123 may be rotatable about a rotating axis to provide greater flexibility in obtaining images and images of the benthos.
  • the submersible drone 120 is provided with a cable holder and magnetic dock 122.
  • the cable 116 is safely attached to the drone 120 and connected to the control unit, which will be beneath it in the main compartment 124.
  • the control unit is configured to exchange data with the surface vessel 110, and further receive and distribute the electrical energy transmitted through the cable 116 to the different systems and instruments of the submersible drone 120.
  • the control unit is provided with a set of operating instructions that define the exploration route to be followed by the submersible drone, and the tasks to be completed.
  • the control unit is further provided with a trained neural network, which is configured for analysing data obtained from the system and instruments of the submersible drone 120, which is then transmitted to the central control unit of the surface vessel.
  • the control unit may further be configured to detect obstacles, based on data collected from an obstacle sensing system, which may include images obtained from the camera 123 or another camera located at a different position on the drone, sonar systems, and the like.
  • the control unit is configured to input the obtain obstacle data into the train neural network to determine the type and characteristics of the obstacle identified.
  • the trained neural network is configured, based on the obstacle characteristics, to determine alternative routes, which are presented to the control unit for selection. Accordingly, the control unit is configured to determine a suitable alternative route, based on a set of criteria, e.g. diversion from original exploration route, power requirements, and the like. In the case that the control unit determines that there is no suitable alternative route, is configured to notify the central control unit.
  • the central control unit may notify in turn the central control station for operating instructions or identify operating instructions loaded into the memory of the central control unit.
  • the operating instruction may include, but not limited to, abandoning the mission, load an alternative route, and the like.
  • the control unit of the submersible drone 120 is housed within a waterproof compartment 124, which forms the body of the submersible drone 120.
  • the submersible drone 120 may further provided with a GPS system, which is used by the control unit to maintain the submersible drone 120 in the desired exploration route.
  • the submersible drone 120 is provided with a propulsion system, which comprises a set of electrical boosters 121, e.g. four, positioned around the drone 120, e.g. positioned at each side of the drone.
  • Each electrical booster is independently operated by the control unit, and configured to rotate about a rotating axis, e.g. rotate 360 degrees.
  • the drone is capable of maintaining its designated course and position and/or avoid currents and other physical phenomena which might affect its stability.
  • Further boosters may be provided to increase the stability of the underwater drone 120 when faced with strong currents, thereby enabling the collection of higher quality data from the sensing systems, and further enabling the drone 120 to change course in order to avoid obstacles.
  • the submersible drone 120 is tasked, among others, to:
  • Figure 7 shows an exemplified method 400 for performing an autonomous exploration mission according to embodiments of the present invention.
  • the operational team prepares the exploration mission by preparing the operating instructions that would be transmitted and/or loaded to the central control unit of the floating surface.
  • the operating team prepares at step 405 the tasks to be completed and at step 415 defines the GPS coordinate of the exploration route, which are used as inputs to a software program at step 410 that would be executed by the central control unit.
  • a system check is performed by the central control unit or by the central control stations to determine the status of the systems of the surface vessel and the submersible drone.
  • the mission is launch at step 425, and the central control unit executes the operating instructions in the software program transmitted by the central control station 300or loaded in the memory of the central control unit. Based on the operating instructions, the central control unit guides the marine exploration vessel 100 to the desired exploration site. Upon reaching the exploration site, at step 430, the central control unit deploys, checks the GPS positioning of the vessel to verify the location, at step 435, then a system check-up is performed to ensure that the systems operate according to their specification, at step 440, and upon confirmation, the mission of the submersible vessel 120 starts, at step 450.
  • the central control unit and/or the central control station restarts the systems of the marine exploration vessel 100.
  • the submersible drone 120 is deployed, and based on the operating instructions, performs a set of required tasks along the exploration route.
  • the data collected from the submersible drone is transmitted to the surface vessel 110, where it is processed and transmitted to the central control station 300.
  • the mission is completed, at step 460, the submersible drone 120 returns to the surface vessel 110, and the marine exploration vessel returns to the base, at step 465.
  • a new exploration mission may be provided by the central control station 300, thereby the marine exploration vessel may be deployed to a new exploration site rather than return to base.
  • the reboot of the system is performed, at step 470. If the problem is fixed, then the method proceeds to step 425. Otherwise, the mission is aborted, at step 475.
  • Figure 8 shows an example of a method 500 for preparing the exploration mission and the operating instructions with the tasks to be performed by each marine exploration vessel according to embodiments of the present invention.
  • the operational team prepares the operating instructions to be followed by the marine exploration vessel 100 during the exploration mission.
  • the operating instructions are in the form of inputs to a software program that is loaded into a memory of the central control unit for execution, during the development phase at step 510.
  • the mission is complete, at step 515, it is loaded into the memory of the central control unit, where it may replace a previous exploration mission, at step 520.
  • the mission is then initiated, at step 525, and the operating instructions may be separated to the tasks to be performed by the platform 100, at step 535, and tasks to be performed by the underwater drone 120, at step 530.
  • the separation of tasks may be performed by the central control station or by the central control unit.
  • Figure 9 shows an example of a method for communicating data between the submersible vessel and the surface vessel according to embodiments of the present invention.
  • the central control unit is communicatively coupled to a range of sensors systems, such as a camera, water quality sensors, sonar-audio, and the like.
  • the data is collected and analysed at the central control unit using a train neural network, which may be configured to derive conclusions related to the exploration system, which are then transmitted to the central control station 300.
  • the neural network may be configured to analyse images obtained from a camera on the surface vessel of the benthos, and accordingly derive conclusions of the status of the ecosystem, such as changes occurred over a period of time, and the like.
  • a control unit is provided to process data collected from a variety of sensing systems, such as images from the camera, temperature sensors, salinity sensors, acidity, and the like. Other sensing systems may be added, depending on the exploration mission.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
EP21157308.4A 2021-02-16 2021-02-16 Système et procédé d'exploration marine Withdrawn EP4043331A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21157308.4A EP4043331A1 (fr) 2021-02-16 2021-02-16 Système et procédé d'exploration marine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21157308.4A EP4043331A1 (fr) 2021-02-16 2021-02-16 Système et procédé d'exploration marine

Publications (1)

Publication Number Publication Date
EP4043331A1 true EP4043331A1 (fr) 2022-08-17

Family

ID=74661280

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21157308.4A Withdrawn EP4043331A1 (fr) 2021-02-16 2021-02-16 Système et procédé d'exploration marine

Country Status (1)

Country Link
EP (1) EP4043331A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2729816A1 (es) * 2019-09-16 2019-11-06 Univ Madrid Politecnica Sistema subacuatico para labores de acuicultura
WO2020008240A1 (fr) * 2018-07-06 2020-01-09 Kaboodvandy Rad Modjtaba Coque humide pour embarcations inspirée des requins avec système de propulsion latérale et avant
EP3643596A1 (fr) * 2017-06-22 2020-04-29 Fulldepth Co., Ltd. Adaptateur, appareil électronique, et procédé de transfert d'appareil électronique
US20200385093A1 (en) * 2017-12-04 2020-12-10 II John Taylor Gordon Data Retrieval and Transmitting Marine Exploration Vessel Systems

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3643596A1 (fr) * 2017-06-22 2020-04-29 Fulldepth Co., Ltd. Adaptateur, appareil électronique, et procédé de transfert d'appareil électronique
US20200385093A1 (en) * 2017-12-04 2020-12-10 II John Taylor Gordon Data Retrieval and Transmitting Marine Exploration Vessel Systems
WO2020008240A1 (fr) * 2018-07-06 2020-01-09 Kaboodvandy Rad Modjtaba Coque humide pour embarcations inspirée des requins avec système de propulsion latérale et avant
ES2729816A1 (es) * 2019-09-16 2019-11-06 Univ Madrid Politecnica Sistema subacuatico para labores de acuicultura

Similar Documents

Publication Publication Date Title
Allen et al. REMUS: a small, low cost AUV; system description, field trials and performance results
US11430332B2 (en) Unmanned aerial system assisted navigational systems and methods
Purcell et al. Use of REMUS 6000 AUVs in the search for the Air France Flight 447
CN109690250B (zh) 无人机系统辅助导航系统和方法
KR20170043035A (ko) 수중, 수면 및 수상 복합 검사 시스템
US20040015277A1 (en) Autonomous surface watercraft
US20220301302A1 (en) Air and sea based fishing data collection and analysis systems and methods
CN104142688A (zh) 一种水下机器人平台
CN108321598B (zh) 一种模块化水下自治航行器
US11755035B2 (en) Unmanned aerial vehicle control system and unmanned aerial vehicle control method
WO2018181958A1 (fr) Procédé de commande de trafic pour engin sous-marin, procédé de lancement pour engin sous-marin, procédé de récupération pour engin sous-marin, système de commande de trafic pour engin sous-marin, et équipement de lancement/récupération pour système de commande de trafic pour engin sous-marin
CN115202376A (zh) 一种基于单兵移动的无人机巡检电力网格化管控平台
Cruz et al. A lightweight docking station for a hovering AUV
Bae et al. Development of an unmanned surface vehicle for remote sediment sampling with a van veen grab sampler
CN107878669A (zh) 智慧水面监测三体船
KR20180129462A (ko) 드론 및 이를 이용한 해양 관측 시스템
Aissi et al. Autonomous solar USV with an automated launch and recovery system for UAV: State of the art and Design
Al Maawali et al. Design and implementation of an unmanned surface vehicle for oil spill handling
Martins et al. Roaz and roaz ii autonomous surface vehicle design and implementation
CN113501092B (zh) 海洋调查系统
Demetriou et al. ERON: A PID controlled autonomous surface vessel
EP4043331A1 (fr) Système et procédé d'exploration marine
Mancini et al. Development of a low-cost Unmanned Surface Vehicle for digital survey
Ferreira et al. Enhancing autonomous capabilities and human-robot interaction for unmanned surface vehicles
KR20220029822A (ko) 해양환경 조성을 위한 무인 수상정-무인 항공기 협업 시스템

Legal Events

Date Code Title Description
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

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

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

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

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

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Effective date: 20230307