ES2528566A1 - Fish search and aggregation artifact (Machine-translation by Google Translate, not legally binding) - Google Patents
Fish search and aggregation artifact (Machine-translation by Google Translate, not legally binding) Download PDFInfo
- Publication number
- ES2528566A1 ES2528566A1 ES201431333A ES201431333A ES2528566A1 ES 2528566 A1 ES2528566 A1 ES 2528566A1 ES 201431333 A ES201431333 A ES 201431333A ES 201431333 A ES201431333 A ES 201431333A ES 2528566 A1 ES2528566 A1 ES 2528566A1
- Authority
- ES
- Spain
- Prior art keywords
- artifact
- fish
- artifact according
- aggregation
- module
- 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
Links
- 230000002776 aggregation Effects 0.000 title claims description 15
- 238000004220 aggregation Methods 0.000 title claims description 15
- 241000251468 Actinopterygii Species 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 241000894007 species Species 0.000 abstract description 8
- 229930002875 chlorophyll Natural products 0.000 abstract description 2
- 235000019804 chlorophyll Nutrition 0.000 abstract description 2
- ATNHDLDRLWWWCB-AENOIHSZSA-M chlorophyll a Chemical compound C1([C@@H](C(=O)OC)C(=O)C2=C3C)=C2N2C3=CC(C(CC)=C3C)=[N+]4C3=CC3=C(C=C)C(C)=C5N3[Mg-2]42[N+]2=C1[C@@H](CCC(=O)OC\C=C(/C)CCC[C@H](C)CCC[C@H](C)CCCC(C)C)[C@H](C)C2=C5 ATNHDLDRLWWWCB-AENOIHSZSA-M 0.000 abstract description 2
- 230000003213 activating effect Effects 0.000 abstract 1
- 230000004397 blinking Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 241001396014 Priacanthus arenatus Species 0.000 description 1
- 241000269849 Thunnus Species 0.000 description 1
- 241000269841 Thunnus albacares Species 0.000 description 1
- 241001222097 Xenocypris argentea Species 0.000 description 1
- 230000004931 aggregating effect Effects 0.000 description 1
- 210000004712 air sac Anatomy 0.000 description 1
- 230000003542 behavioural effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 238000010348 incorporation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
- A01K79/02—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery by electrocution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B34/00—Vessels specially adapted for water sports or leisure; Body-supporting devices specially adapted for water sports or leisure
- B63B34/05—Vessels specially adapted for hunting or fishing
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
-
- 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
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Marine Sciences & Fisheries (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ocean & Marine Engineering (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
P201431333 P201431333
15-09-2014 09-15-2014
La invención pertenece al campo de los artefactos no tripulados autopropulsados para detectar y agregar bancos de peces, en particular especies pelágicas. The invention belongs to the field of self-propelled unmanned artifacts for detecting and adding schools of fish, in particular pelagic species.
En la pesca industrial de atún y de otras especies pelágicas es de uso generalizado la pesca con FAD’s, (Fish Aggregating Devices). Los FAD’s son elementos flotantes de origen natural o artificial para concentrar peces. Se ha observado que, después de un In industrial fishing for tuna and other pelagic species, fishing with FAD’s (Fish Aggregating Devices) is widely used. FAD’s are floating elements of natural or artificial origin to concentrate fish. It has been observed that, after a
15 tiempo en el agua, generan un ecosistema que favorece que los bancos de peces (especialmente túnidos) se mantengan debajo a ciertas horas del día. Estos FAD’s suelen llevar redes a 10 -20 m de profundidad actuando como anclas flotantes, creando por una parte una discontinuidad lumínica submarina y por otra parte permitiendo derivar y ser arrastradas bajo el efecto de corrientes más profundas. 15 times in the water, they generate an ecosystem that favors fish banks (especially tunas) to stay below at certain times of the day. These FAD's usually carry networks at 10-20 m deep acting as floating anchors, creating on the one hand an underwater light discontinuity and on the other hand allowing drift and being dragged under the effect of deeper currents.
20 Se destacan varios antecedentes que describen dispositivos no tripulados relacionados con concentración o detección de peces. La solicitud de patente FR 2674338 describe una radio-boya con GPS, que informa sobre la posición de los peces. La solicitud de patente ES2454915 A1 de Marine Instruments divulga también una 20 Several antecedents that describe unmanned devices related to fish concentration or detection are highlighted. Patent application FR 2674338 describes a radio-buoy with GPS, which informs about the position of the fish. Patent application ES2454915 A1 of Marine Instruments also discloses a
25 boya para detección de peces equipada con GPS y sonar multifrecuencia y unos acelerómetros para determinar en qué momento disparar el ping ultrasónico. La solicitud de patente US20130006445 muestra como un artefacto con sistema GPS propulsado por las olas distribuye fertilizante para el crecimiento de fitoplancton en los océanos, para mejorar el stock de pescado. Sin embargo no se considera la presencia 25 fish detection buoy equipped with GPS and multi-frequency sonar and accelerometers to determine when to fire the ultrasonic ping. Patent application US20130006445 shows how an artifact with GPS system propelled by waves distributes fertilizer for the growth of phytoplankton in the oceans, to improve the stock of fish. However, presence is not considered.
30 de pescado ni de fitoplancton. El modelo de utilidad CN202197670 U describe la aplicación de luces en el perímetro de un FAD, para agregar una mayor cantidad de peces. Sin embargo no considera el consumo de energía que suponen. En general, las boyas presentes en el mercado no cambian su rumbo en función de los 30 fish or phytoplankton. The utility model CN202197670 U describes the application of lights on the perimeter of an FAD, to add more fish. However, it does not consider the energy consumption they entail. In general, the buoys present in the market do not change their course depending on the
35 datos obtenidos sino que siguen las corrientes marinas. Por otra parte, los artefactos autónomos autopropulsados carecen de la posibilidad de detectar y agregar pescado. 35 data obtained but follow the sea currents. On the other hand, self-propelled autonomous artifacts lack the ability to detect and add fish.
P201431333 P201431333
15-09-2014 09-15-2014
Breve descripción de la invención Brief Description of the Invention
La invención se refiere a un artefacto no tripulado, navegable autopropulsada para The invention relates to an unmanned, navigable self-propelled device for
5 detectar y agregar bancos de peces. Para ello, se debe gestionar la energía producida por los paneles solares manera eficiente, gracias a ello, se consigue navegar a un rumbo programado una distancia que llega a alcanzar las 20 millas náuticas diarias. También se debe tener en cuenta que los medios de agregación consumen bastante energía. Por esto es importante, destinar la energía según las circunstancias a unos 5 detect and add schools of fish. For this, the energy produced by the solar panels must be managed efficiently, thanks to this, it is possible to navigate to a programmed heading a distance that reaches 20 nautical miles per day. It should also be taken into account that the means of aggregation consume enough energy. This is why it is important to allocate energy according to circumstances to some
10 equipos u otros. El artefacto de búsqueda y agregación de peces comprende un casco de material flotador, un panel solar para producir energía eléctrica, un módulo de propulsión eléctrico, una pluralidad de medios sensores para detectar peces y medir condiciones ambientales, una pluralidad de medios de agregación para atraer peces, un módulo de 10 teams or others. The fish search and aggregation device comprises a floating material hull, a solar panel for producing electrical energy, an electrical propulsion module, a plurality of sensing means for detecting fish and measuring environmental conditions, a plurality of aggregation means for attracting fish, a module of
15 control configurado para distribuir la energía eléctrica disponible de acuerdo con la información de los medios sensores entre el módulo de propulsión y los medios de agregación para moverlo hacia a o mantenerlo en una zona determinada. 15 control configured to distribute the available electrical energy according to the information of the sensing means between the propulsion module and the aggregation means to move it towards or maintain it in a certain area.
Opcionalmente, el artefacto comprende además un módulo de comunicación 20 configurado para enviar y recibir información de forma inalámbrica. Optionally, the device further comprises a communication module 20 configured to send and receive information wirelessly.
Opcionalmente, los medios sensores comprenden una sonda de detección hidroacústica para detectar un banco de peces y/o identificar el tipo. Optionally, the sensor means comprise a hydroacoustic detection probe to detect a school of fish and / or identify the type.
25 Opcionalmente, los medios sensores comprenden una cámara submarina para captar imágenes. 25 Optionally, the sensor means comprise an underwater camera for capturing images.
Opcionalmente, el artefacto comprende un módulo de geolocalización. Optionally, the device comprises a geolocation module.
30 Opcionalmente, el artefacto comprende un sensor de corrientes submarinas. 30 Optionally, the device comprises an underwater current sensor.
Opcionalmente, el sensor de corrientes submarinas está asociado con el módulo de control y con el módulo de geolocalización para fijar la ruta de navegación en función de la energía disponible. Optionally, the underwater current sensor is associated with the control module and with the geolocation module to set the navigation route based on the available energy.
35 35
P201431333 P201431333
15-09-2014 09-15-2014
Opcionalmente, el artefacto comprende un compás magnético y/o un giroscopio para registrar y comunicar las rotaciones al módulo de control. Optionally, the device comprises a magnetic compass and / or a gyroscope to record and communicate the rotations to the control module.
Opcionalmente, el artefacto comprende un equipo de detección inercial con 5 acelerómetros configurados para medir y comunicar la altura y la dirección de las olas al módulo de control. Optionally, the device comprises an inertial detection device with 5 accelerometers configured to measure and communicate the height and direction of the waves to the control module.
Opcionalmente, el artefacto comprende un sensor de temperatura para medir la temperatura superficial del agua. Optionally, the device comprises a temperature sensor to measure the surface temperature of the water.
10 Opcionalmente, el artefacto comprende un sensor de turbidez para estimar el nivel de fitoplancton presente en el agua. Optionally, the device comprises a turbidity sensor to estimate the level of phytoplankton present in the water.
Opcionalmente, el módulo de control puede validar la estimación de fitoplancton del 15 sensor de turbidez de acuerdo con la temperatura del agua. Optionally, the control module can validate the phytoplankton estimate of the turbidity sensor according to the water temperature.
Opcionalmente, los medios de agregación para atraer peces comprenden una fuente de iluminación de intensidad configurable ubicada en el casco. Optionally, the aggregation means for attracting fish comprise a lighting source of configurable intensity located in the hull.
20 Opcionalmente, el artefacto comprende además un emisor de pulsos eléctricos (12). 20 Optionally, the device further comprises an electric pulse emitter (12).
Opcionalmente, el casco comprende una quilla estabilizadora donde se dispone el emisor de pulsos eléctricos. Optionally, the helmet comprises a stabilizing keel where the electric pulse emitter is arranged.
25 Opcionalmente, el casco comprende un ancla de deriva donde se dispone el emisor de pulsos eléctricos. 25 Optionally, the hull comprises a drift anchor where the electric pulse emitter is arranged.
Opcionalmente, la flotabilidad del casco es variable y controlable a distancia para sumergirse al menos parcialmente. Optionally, the buoyancy of the hull is variable and remotely controllable to submerge at least partially.
30 Opcionalmente, el casco comprende al menos un depósito interno en la carena con una apertura en popa para llenarse de agua cuando se detiene. 30 Optionally, the helmet comprises at least one internal reservoir in the cowl with a stern opening to fill with water when it stops.
Opcionalmente, el depósito interno en la carena se vacía cuando está en movimiento. Opcionalmente, el depósito interno se sitúa en la popa. Optionally, the internal tank in the cowl is emptied when it is in motion. Optionally, the internal deposit is located in the stern.
P201431333 P201431333
15-09-2014 09-15-2014
Opcionalmente, el artefacto comprende una bomba para realizar el llenado o vaciado del depósito. Optionally, the device comprises a pump for filling or emptying the tank.
5 Breve descripción de las figuras 5 Brief description of the figures
La figura 1 muestra una vista lateral del artefacto de forma esquemática. La figura 2 muestra una vista superior del artefacto de forma esquemática. La figura 3 muestra una vista inferior del artefacto de forma esquemática. Figure 1 shows a side view of the device schematically. Figure 2 shows a top view of the device schematically. Figure 3 shows a bottom view of the device schematically.
10 La figura 4 muestra una vista frontal del artefacto de forma esquemática. La figura 5 muestra vista inferior del artefacto con depósitos internos para modificar la flotabilidad. La figura 6 muestra elementos de la invención en un diagrama de bloques. 10 Figure 4 shows a front view of the device schematically. Figure 5 shows a bottom view of the device with internal deposits to modify buoyancy. Figure 6 shows elements of the invention in a block diagram.
Con referencia a las figuras 1 a 6 se explica un ejemplo de realización que no debe considerarse con carácter limitativo. Como se puede apreciar en la figura 1 el artefacto incluye un casco flotador 1 (podría With reference to Figures 1 to 6, an embodiment example is explained that should not be considered as limiting. As can be seen in figure 1, the device includes a floating helmet 1 (it could
20 ser también un casco doble tipo catamarán, o triple, etc.) que puede actuar como objeto de agregación de peces con una quilla 5 para estabilizar. Como ilustra la figura 2, dispone preferentemente de paneles solares fotovoltaicos 10 que generan energía eléctrica que se pueden almacenar en baterías recargables 13. En la figura 3 se aprecia que dispone de uno o varios motores como módulos de 20 also be a double catamaran or triple hull, etc.) that can act as an object of aggregation of fish with a keel 5 to stabilize. As Figure 2 illustrates, it preferably has photovoltaic solar panels 10 that generate electrical energy that can be stored in rechargeable batteries 13. In Figure 3 it can be seen that it has one or more motors as modules for
25 propulsión eléctricos 11, que controlados de forma independiente pueden cambiar la dirección del artefacto. El artefacto incorpora sondas de detección hidroacústica 2 para detección de peces y una fuente de iluminación submarina 3, para atraer peces. Puede incluir un sensor de temperatura 15 para medir la temperatura superficial del agua y un sensor de turbidez 6 para medir la cantidad de fitoplancton presente en el 25 electric propulsion 11, which independently controlled can change the direction of the appliance. The device incorporates hydroacoustic detection probes 2 for fish detection and an underwater light source 3, to attract fish. It can include a temperature sensor 15 to measure the surface temperature of the water and a turbidity sensor 6 to measure the amount of phytoplankton present in the
30 agua. Adicionalmente, un sensor de temperatura 15 puede comprobar que la temperatura es más alta para que, en combinación con datos el sensor de turbidez 6, evitar falsos positivos cuando un aumento del turbidez no es a causa de fitoplancton. Incluye un módulo geolocalización satelitaria 9 y un módulo de comunicación 16 para transmitir los resultados de las mediciones de los sensores, la posición, etc. y que 30 water Additionally, a temperature sensor 15 can verify that the temperature is higher so that, in combination with data, the turbidity sensor 6 prevents false positives when an increase in turbidity is not caused by phytoplankton. It includes a satellite geolocation module 9 and a communication module 16 to transmit the results of the sensor measurements, position, etc. and that
35 también permita recibir instrucciones para controlar su funcionamiento. Así se pueden 35 also allow you to receive instructions to control its operation. So you can
P201431333 P201431333
15-09-2014 09-15-2014
transmitir, periódicamente o a petición, los datos de posición, temperatura, nivel de energía, actividad detectada. Con la incorporación de un sensor de corrientes submarinas 8 se obtiene información para determinar rutas de navegación con el menor consumo de energía posible. transmit, periodically or upon request, the data of position, temperature, energy level, activity detected. With the incorporation of an underwater current sensor 8, information is obtained to determine navigation routes with the lowest possible energy consumption.
5 Adicionalmente, el artefacto puede incluir un ancla de deriva 7 para reducir la velocidad de avance. Este ancla 7 a su vez puede incorporar un emisor de pulsos de corriente eléctrica 12 con capacidad de atraer pescado. Por ejemplo, con el módulo de comunicación 16 puede enviarse información sobre las ondas ultrasónicas reflejadas con la sonda hidroacústica 2. Con ello, se puede obtener 5 Additionally, the artifact may include a drift anchor 7 to reduce the feed rate. This anchor 7 can in turn incorporate an electric current pulse emitter 12 capable of attracting fish. For example, with the communication module 16, information about the ultrasonic waves reflected with the hydroacoustic probe 2 can be sent.
10 información sobre los tipos de peces que hay bajo el artefacto y estimar su cantidad. Asimismo, se puede incluir una cámara submarina, para visualizar bajo el artefacto y poder comprobar los tipos de peces y/o su cantidad. También con el módulo de comunicación 16 además pueden recibirse comandos para actuar sobre el artefacto a través del módulo de control 14. También puede incluirse una memoria que almacene 10 information on the types of fish under the device and estimate their quantity. Also, an underwater camera can be included, to visualize under the device and to be able to check the types of fish and / or their quantity. Also with the communication module 16, commands can also be received to act on the device through the control module 14. A memory that stores is also included.
15 datos sobre las señales procesadas y los valores medidos, entre otras cosas. De manera adicional, el artefacto puede incluir otros dispositivos como un compás magnético y/o un giroscopio para registrar las rotaciones así como un equipo de detección inercial con acelerómetros para medir la altura y dirección de las olas para tenerlas en cuenta y poder optimizar la ruta a seguir. 15 data on processed signals and measured values, among other things. Additionally, the device can include other devices such as a magnetic compass and / or a gyroscope to record the rotations as well as an inertial detection equipment with accelerometers to measure the height and direction of the waves to take them into account and optimize the route to follow.
20 Alternativamente o conjuntamente con los paneles fotovoltaicos 10, el artefacto puede incluir una fuente de energía diferente. Por ejemplo: un generador eólico, un generador de energía termodinámica, un depósito de combustible, una pila de combustible o un depósito de hidrógeno. Las fuentes de energía pueden estar conectadas con una batería 13 para almacenar la energía no utilizada y emplearla en caso de necesidad 20 Alternatively or in conjunction with the photovoltaic panels 10, the device may include a different energy source. For example: a wind generator, a thermodynamic power generator, a fuel tank, a fuel cell or a hydrogen tank. The energy sources may be connected to a battery 13 to store unused energy and use it if necessary.
25 cuando no sea suficiente el suministro de la fuente de energía. La batería puede incorporarse en el interior de la quilla 5 como se aprecia en las figuras 1 y 4. Opcionalmente, como se muestra en la figura 5, este casco puede tener una flotabilidad variable y controlada a distancia para poder sumergirse parcial o completamente durante un tiempo determinado para ser muy discreto. Para ello, la 25 when the supply of the energy source is not sufficient. The battery can be incorporated inside the keel 5 as seen in Figures 1 and 4. Optionally, as shown in Figure 5, this helmet can have a variable and remotely controlled buoyancy to be able to submerge partially or completely during a determined time to be very discreet. To do this, the
30 carena puede tener una forma que le permita estar semi-sumergida en parado, y emerger al empezar a desplazarse con la ayuda de su equipo de propulsión. Puede poseer unos depósitos internos 17 de agua que se pueden rellenar y vaciar de forma controlada. Por ejemplo, mediante una bomba de agua. Incluso, simplemente con unas aperturas en popa de la embarcación que permiten su llenado al estar parado y 30 fairing may have a shape that allows it to be semi-submerged while standing, and emerge when it begins to move with the help of its propulsion equipment. It can have internal water tanks 17 that can be filled and emptied in a controlled manner. For example, by means of a water pump. Even simply with a stern openings of the boat that allow its filling when standing and
35 al poner en marcha la propulsión gracias a su forma hidrodinámica, el artefacto levanta su proa y sus depósitos 17 se vacían por gravedad. 35 when starting the propulsion thanks to its hydrodynamic shape, the device lifts its bow and its tanks 17 are emptied by gravity.
P201431333 P201431333
15-09-2014 09-15-2014
A continuación se describe un ejemplo del funcionamiento: Partiendo de datos procedentes de imágenes satelitarias sobre temperaturas de agua, corrientes y presencia de nutrientes y clorofila, se puede deducir una zona con posible An example of the operation is described below: Based on data from satellite images on water temperatures, currents and presence of nutrients and chlorophyll, an area with possible
5 presencia de fitoplancton. Esto significa que tiene una alta probabilidad de ser productiva por la presencia de pescado en los siguientes días/semanas. Esta zona sería candidata como destino para el lanzamiento del artefacto o para dirigirse hacia ella. Para dirigirse hacia la zona elegida, se ha de establecer una ruta de navegación 5 presence of phytoplankton. This means that it has a high probability of being productive due to the presence of fish in the following days / weeks. This area would be a candidate as a destination for launching the device or heading towards it. To go to the chosen area, a navigation route must be established
10 optimizada en función de datos de satélite sobre corrientes marinas y meteorología. Esta ruta de navegación se puede optimizar diariamente desde tierra en un servidor que simula las distintas posibilidades de navegación teniendo en cuenta las corrientes marinas y las condiciones meteorológicas, el usuario puede decidir pilotar su artefacto de forma manual o solicitar su pilotaje al servidor que optimizara su ruta para llegar en 10 optimized based on satellite data on sea currents and meteorology. This navigation route can be optimized daily from the ground on a server that simulates the different navigation possibilities taking into account sea currents and weather conditions, the user can decide to pilot his device manually or request his pilot to the server to optimize his route to arrive in
15 el tiempo requerido al lugar determinado. 15 the time required to the determined place.
Con esta información se envían las órdenes de navegación por satélite. En la zona elegida y/o durante la ruta de navegación, se ponen en funcionamiento los diferentes medios de atracción y agregación activa de pescado. En particular: La fuente de iluminación 3, que puede emitir diferentes secuencias e intensidades. With this information, satellite navigation orders are sent. In the chosen area and / or during the navigation route, the different means of attraction and active aggregation of fish are put into operation. In particular: The lighting source 3, which can emit different sequences and intensities.
20 La sonda de detección hidroacústica 2, que puede emitir señales sonoras con diferentes intensidades y secuencias. El ancla de deriva 7 que puede incorporar un emisor de pulsos eléctricos 12 con diferentes secuencias e intensidades de corriente eléctrica. También se ponen en funcionamiento los medios de detección, la sonda de detección 20 The hydroacoustic detection probe 2, which can emit sound signals with different intensities and sequences. The drift anchor 7 that can incorporate an electric pulse emitter 12 with different sequences and intensities of electric current. The detection means, the detection probe are also put into operation
25 hidroacústica 2, una cámara submarina 4, un sensor de turbidez 6, un sensor de temperatura 15, y estos transmiten la información por satélite gracias al módulo de comunicación 16. El módulo de control 14 y el módulo de geolocalización 9 realizan una comprobación constante y correcciones de rumbo para evitar que el artefacto entre en zonas 25 hydroacoustics 2, an underwater chamber 4, a turbidity sensor 6, a temperature sensor 15, and these transmit the information via satellite thanks to the communication module 16. The control module 14 and the geolocation module 9 perform a constant check and course corrections to prevent the device from entering zones
30 peligrosas de embarrancamiento, o en aguas no jurisdiccionales, etc. Además el módulo de control 14 del artefacto realiza una gestión eficiente del uso de energía producida por los paneles fotovoltaicos 10 y/o almacenada en la batería 13. Cuando el artefacto está en modo de navegación hacia la zona potencialmente productiva, gran parte de la energía se destina a la propulsión (>90%), y una parte 30 dangerous landslides, or in non-jurisdictional waters, etc. In addition, the control module 14 of the device performs an efficient management of the energy use produced by the photovoltaic panels 10 and / or stored in the battery 13. When the device is in navigation mode towards the potentially productive zone, much of the energy it goes to propulsion (> 90%), and a part
35 pequeña se destinan a la detección y comunicación (<10%). Cuando los sensores de temperatura, turbidez y sonares confirman que el artefacto ha llegado a una zona 35 small are used for detection and communication (<10%). When the temperature, turbidity and sonar sensors confirm that the device has reached an area
P201431333 P201431333
15-09-2014 09-15-2014
potencialmente productiva, gran parte de la energía se destinan para los diferentes sistemas de atracción o agregación activa, y los sistemas de detección y comunicación (>90%) y una parte pequeña se destina a la propulsión (>10%). Además, el sensor de corrientes submarinas 8 aporta datos para determinar la ruta de navegación óptima, y potentially productive, much of the energy goes to the different systems of attraction or active aggregation, and the detection and communication systems (> 90%) and a small part goes to propulsion (> 10%). In addition, the underwater current sensor 8 provides data to determine the optimal navigation route, and
5 así ahorrar energía. Los medios de detección comprenden una sonda hidroacústica 2 para discernir tipos de peces, especies y tamaños. La sonda hidroacústica 2 transmite al agua pulsos ultrasónicos de diferentes frecuencias y detecta los ecos de forma independiente en cualquiera de las frecuencias transmitidas, teniendo la capacidad de medir el eco 5 so save energy. The detection means comprise a hydroacoustic probe 2 to discern types of fish, species and sizes. The hydroacoustic probe 2 transmits ultrasonic pulses of different frequencies to the water and detects the echoes independently at any of the transmitted frequencies, having the ability to measure the echo
10 resultante de cada frecuencia de forma independiente. Se puede obtener la respuesta de un pez o conjunto de peces a diferentes frecuencias ultrasónicas gracias a las características de la onda recibida como eco, se puede clasificar su tamaño e incluso la especie (listado, yellowfin, albacora, patudo, etc.). Para ello, se han de conocer las características del eco reflejado para el pulso emitido para una especie de pez 10 resulting from each frequency independently. The response of a fish or set of fish at different ultrasonic frequencies can be obtained thanks to the characteristics of the wave received as an echo, its size and even the species can be classified (listed, yellowfin, albacore, bigeye, etc.). For this, the characteristics of the reflected echo for the pulse emitted for a kind of fish must be known
15 concreta, con lo que se puede establecer una firma acústica. Las diferencias en el eco reflejado suelen originadas por características morfológicas, tales como distintas densidades del cuerpo, tamaño, forma, dureza de la piel y presencia o no de vejiga natatoria, etc. Así, comparando los resultados con esta información, se puede identificar una especie. En otros casos, aunque la especie no pueda ser determinada 15 concrete, with which an acoustic signature can be established. Differences in the reflected echo are usually caused by morphological characteristics, such as different body densities, size, shape, skin hardness and presence or absence of swim bladder, etc. Thus, by comparing the results with this information, a species can be identified. In other cases, although the species cannot be determined
20 con exactitud, sí se puede extraer información de interés para la pesca. Por ejemplo, se puede almacenar el momento de la detección de un banco con unas características concretas y con ello identificar pautas de comportamiento. 20 exactly, information of interest to fishing can be extracted. For example, you can store the moment of the detection of a bank with specific characteristics and thereby identify behavioral patterns.
De otra parte, la propia forma del artefacto, genera una sombra (similar a un objeto On the other hand, the artifact's own form generates a shadow (similar to an object
25 FAD) y se combina con varios elementos activos (iluminación, sonido y corrientes eléctricas) para conseguir atraer y agregar pescado. Como se ha mencionado el artefacto tiene preferentemente una forma que representa un superficie similar a los objetos FAD’s. En una realización se ha elegido un diseño con 4 m2, una forma alargada de 3 a 5 metros de largo) y estrecha (sobre 1 metro de ancho). El material del 25 FAD) and is combined with several active elements (lighting, sound and electric currents) to attract and add fish. As mentioned, the artifact preferably has a shape that represents a surface similar to FAD’s objects. In one embodiment, a design with 4 m2, an elongated shape 3 to 5 meters long) and narrow (about 1 meter wide) has been chosen. The material of
30 casco 1 es de composite relleno de espuma, que aporta flotabilidad y opcionalmente de unos depósitos internos 17 de agua para poder compensar la flotabilidad en parado, que le permite navegar por encima de las olas. Se elige una quilla 5 con una profundidad de entre 0,5-1 metros. Preferentemente, como se ha mencionado anteriormente, allí se alojan la batería 13 y otros equipos (módulo de control 14, 30 hull 1 is made of foam-filled composite, which provides buoyancy and optionally internal water reservoirs 17 to compensate for buoyancy while standing, which allows it to navigate above the waves. A keel 5 is chosen with a depth of between 0.5-1 meters. Preferably, as mentioned above, the battery 13 and other equipment are housed there (control module 14,
35 emisor de pulsos eléctricos 12) para aportar un centro de gravedad muy bajo. Así, en caso de vuelco, el artefacto se daría la vuelta a su posición correcta. 35 electric pulse emitter 12) to provide a very low center of gravity. Thus, in case of overturning, the device would turn to its correct position.
P201431333 P201431333
15-09-2014 09-15-2014
Por último, en la figura 6 se ilustra esquemáticamente mediante diversos bloques el flujo de información. La línea discontinua enlazando elementos indica datos y la línea continua indica órdenes/instrucciones. El módulo de control 14 gestiona el proceso, obtiene datos medidos por los diferentes sensores y sondas para controlar el artefacto. 5 Puede transmitirlos inalámbricamente a un servidor a través del módulo de comunicaciones 16 o bien actuar directamente sobre los diferentes medios de agregación (emisor de pulsos eléctricos 12, fuente de iluminación 3) y atraer peces si las condiciones son favorables. También a través del módulo de comunicaciones 16 se puede recibir órdenes para dirigir el artefacto remotamente o activar alguno de los Finally, in figure 6 the flow of information is schematically illustrated by various blocks. The dashed line linking elements indicates data and the continuous line indicates orders / instructions. The control module 14 manages the process, obtains data measured by the different sensors and probes to control the device. 5 You can transmit them wirelessly to a server through the communications module 16 or act directly on the different aggregation means (electric pulse emitter 12, light source 3) and attract fish if the conditions are favorable. Also through communications module 16, orders can be received to direct the device remotely or activate any of the
10 dispositivos anteriores. 10 previous devices.
Referencias numéricas: 1 Casco. 2 Sonda de detección hidroacústica. Numerical references: 1 Helmet. 2 Hydroacoustic detection probe.
15 3 Fuente de iluminación. 4 Cámara submarina. 5 Quilla. 6 Sensor de turbidez. 7 Ancla. 15 3 Lighting source. 4 underwater camera. 5 Keel 6 Turbidity sensor. 7 Anchor
20 8 Sensor de corrientes submarinas. 9 Módulo de geolocalización. 10 Paneles solares fotovoltaicos. 11 Módulo de propulsión eléctrica. 12 Emisor de pulsos eléctricos. 20 8 Underwater current sensor. 9 Geolocation module. 10 photovoltaic solar panels. 11 Electric propulsion module. 12 Electric pulse emitter.
25 13 Batería. 14 Módulo de control. 15 Sensor de temperatura. 16 Módulo de comunicaciones. 17 Depósito interno. 25 13 Battery. 14 Control module. 15 Temperature sensor. 16 Communications module. 17 Internal deposit.
30 30
Claims (15)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES201431333A ES2528566B2 (en) | 2014-09-15 | 2014-09-15 | Fish search and aggregation device |
| FR1558540A FR3025696B1 (en) | 2014-09-15 | 2015-09-14 | FISH RESEARCH AND AGGREGATION EQUIPMENT |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES201431333A ES2528566B2 (en) | 2014-09-15 | 2014-09-15 | Fish search and aggregation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| ES2528566A1 true ES2528566A1 (en) | 2015-02-10 |
| ES2528566B2 ES2528566B2 (en) | 2015-05-27 |
Family
ID=52446006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES201431333A Active ES2528566B2 (en) | 2014-09-15 | 2014-09-15 | Fish search and aggregation device |
Country Status (2)
| Country | Link |
|---|---|
| ES (1) | ES2528566B2 (en) |
| FR (1) | FR3025696B1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2536682A (en) * | 2015-03-25 | 2016-09-28 | Atlantic Lionshare Ltd | Method and apparatus for controlling fish |
| ES2711855A1 (en) * | 2019-02-22 | 2019-05-07 | Marine Instr S A | UNFILTERED SURFACE VEHICLE (Machine-translation by Google Translate, not legally binding) |
| EP3615409B1 (en) * | 2017-04-27 | 2022-04-20 | Ixblue | Surface vessel with motorised mechanical propulsion having a fusiform hull and ballasted keel |
| EP3717346B1 (en) * | 2017-12-01 | 2023-01-25 | Ixblue | Floating maritime vessel comprising a detachable measuring keel |
| US11617358B2 (en) * | 2017-10-12 | 2023-04-04 | Atlantic Lionshare Limited | Method apparatus and system for controlling fish |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201600120152A1 (en) * | 2016-11-28 | 2018-05-28 | Terra Modena Mechatronic S R L | Method of control of electric boats, system and boat for its implementation |
| DE102019202427A1 (en) * | 2019-02-22 | 2020-08-27 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | WATER VEHICLE |
| US20220011428A1 (en) * | 2020-07-13 | 2022-01-13 | Nigel Brandon | Fish finding devices, systems and methods |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5005309A (en) * | 1989-08-25 | 1991-04-09 | Hall John D | Instrumented drift fish aggregating device and method |
| FR2674338A1 (en) * | 1991-03-19 | 1992-09-25 | Orca Instrumentation Sarl | Instrumental maritime device for locating concentrations of fish, fishing system comprising such devices, and receiving station for such a system |
| ES2245876A1 (en) * | 2004-04-12 | 2006-01-16 | Manuel Sampedro Gonzalez | PVC and cloth mesh based fish bank includes PVC pipes facilitating plankton accumulation in a computerised fish attraction system |
| ES2312229A1 (en) * | 1999-01-07 | 2009-02-16 | Zunibal, S.L. | Mushroom-shape sea fishing buoy incorporating a transmitter - has solar panels giving autonomy of water and fish monitoring to 180 metres depth |
| ES2385234A1 (en) * | 2012-03-29 | 2012-07-20 | Zunibal, S.L. | Buoy for biomass detection (Machine-translation by Google Translate, not legally binding) |
| WO2012126017A2 (en) * | 2011-03-17 | 2012-09-20 | Liquid Robotics Inc. | Autonomous wave-powered substance distribution vessels for fertilizing plankton, feeding fish, and sequestering carbon from the atmosphere |
-
2014
- 2014-09-15 ES ES201431333A patent/ES2528566B2/en active Active
-
2015
- 2015-09-14 FR FR1558540A patent/FR3025696B1/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5005309A (en) * | 1989-08-25 | 1991-04-09 | Hall John D | Instrumented drift fish aggregating device and method |
| FR2674338A1 (en) * | 1991-03-19 | 1992-09-25 | Orca Instrumentation Sarl | Instrumental maritime device for locating concentrations of fish, fishing system comprising such devices, and receiving station for such a system |
| ES2312229A1 (en) * | 1999-01-07 | 2009-02-16 | Zunibal, S.L. | Mushroom-shape sea fishing buoy incorporating a transmitter - has solar panels giving autonomy of water and fish monitoring to 180 metres depth |
| ES2245876A1 (en) * | 2004-04-12 | 2006-01-16 | Manuel Sampedro Gonzalez | PVC and cloth mesh based fish bank includes PVC pipes facilitating plankton accumulation in a computerised fish attraction system |
| WO2012126017A2 (en) * | 2011-03-17 | 2012-09-20 | Liquid Robotics Inc. | Autonomous wave-powered substance distribution vessels for fertilizing plankton, feeding fish, and sequestering carbon from the atmosphere |
| ES2385234A1 (en) * | 2012-03-29 | 2012-07-20 | Zunibal, S.L. | Buoy for biomass detection (Machine-translation by Google Translate, not legally binding) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2536682A (en) * | 2015-03-25 | 2016-09-28 | Atlantic Lionshare Ltd | Method and apparatus for controlling fish |
| GB2536682B (en) * | 2015-03-25 | 2020-07-29 | Atlantic Lionshare Ltd | Method and apparatus for controlling fish |
| EP3615409B1 (en) * | 2017-04-27 | 2022-04-20 | Ixblue | Surface vessel with motorised mechanical propulsion having a fusiform hull and ballasted keel |
| US11617358B2 (en) * | 2017-10-12 | 2023-04-04 | Atlantic Lionshare Limited | Method apparatus and system for controlling fish |
| EP3717346B1 (en) * | 2017-12-01 | 2023-01-25 | Ixblue | Floating maritime vessel comprising a detachable measuring keel |
| ES2711855A1 (en) * | 2019-02-22 | 2019-05-07 | Marine Instr S A | UNFILTERED SURFACE VEHICLE (Machine-translation by Google Translate, not legally binding) |
Also Published As
| Publication number | Publication date |
|---|---|
| FR3025696A1 (en) | 2016-03-18 |
| ES2528566B2 (en) | 2015-05-27 |
| FR3025696B1 (en) | 2018-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| ES2528566A1 (en) | Fish search and aggregation artifact (Machine-translation by Google Translate, not legally binding) | |
| JP6039063B2 (en) | Satellite and acoustic tracking device | |
| Meyer | Glider technology for ocean observations: A review | |
| Busquets et al. | Low-cost AUV based on Arduino open source microcontroller board for oceanographic research applications in a collaborative long term deployment missions and suitable for combining with an USV as autonomous automatic recharging platform | |
| CN103310610A (en) | Mobile ocean observation net based on intelligent buoy and intelligent submersible device | |
| CN105228893A (en) | Autonomous sea-going ship | |
| JP2010537882A (en) | Open marine platform capable of automatic positioning and submersion | |
| US11619757B2 (en) | Modular system for deployment and retrieval of marine survey nodes | |
| KR20160047225A (en) | A floating device for measuring water-environment and real-time water-environment monitering methods using the same | |
| ES2823584T3 (en) | Underwater image acquisition and processing system | |
| CN201761634U (en) | High-speed remote fish detection robot | |
| Nishida et al. | Autonomous Underwater Vehicle “Tuna-Sand” for Image Observation of the Seafloor at a Low Altitude | |
| CN106394836B (en) | Microminiature submarine | |
| US20190317236A1 (en) | Autonomous Marine Survey Nodes | |
| Keen | Whales of the rainforest: habitat use strategies of sympatric rorqual whales within a fjord system | |
| ES2711855B2 (en) | UNTRIPULATED SURFACE VEHICLE | |
| ES2547251B2 (en) | Oceanographic buoy with procedure to delay the biofouling of the measuring instruments used | |
| Meyer-Gutbrod et al. | Long term autonomous fisheries survey utilizing active acoustics | |
| Hauge et al. | Fish finding with autonomous surface vehicles for the pelagic fisheries | |
| Pyper | Yellow submarine prepares for first Antarctic mission | |
| Beckler et al. | Harmful algae bloom monitoring via a sustainable, sail-powered mobile platform for in-land and coastal monitoring | |
| Griffiths | Ocean science applications for Autonomous Underwater Vehicles–the Workplan for AUTOSUB-1 for 1997-2000 and Beyond | |
| Berumen et al. | Satellite and acoustic tracking device | |
| Claus et al. | Towards navigation of underwater gliders in seasonal sea ice | |
| KR20170030212A (en) | Seabed water level monitoring apparatus using buoyancy and power generation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FG2A | Definitive protection |
Ref document number: 2528566 Country of ref document: ES Kind code of ref document: B2 Effective date: 20150527 |