FR3055607A1 - COMMUNICATION AND TRANSFER SYSTEM BETWEEN AN EMERGING OBJECT AND AN IMMERSE OBJECT, AN ASSEMBLY COMPRISING AN EMERGING OBJECT, AN IMMERSE OBJECT AND METHOD OF COMMUNICATION AND TRANSFER BETWEEN THE OBJECT - Google Patents

Abstract

The communication and transfer system (10) between an emergent object (12) and an immersed object (14) in a marine (15) or fluvial environment comprises: - an umbilical (16) having a first end (23) capable of to be connected to the emergent object (12) and a second end (26), - a connecting member (18) comprising an electrical transformer (46) and connected to the second end (26) of the umbilical (16) an elongated connecting member (20) comprising a first end (32) connected to the connecting member (18) and a second end (34), and - a connector (22) connected to the second end (34) the elongate connecting member (20), comprising connection means (62) to the immersed object (14), propulsion means and an automated positioning module with respect to the immersed object (14). The umbilical (16), the connecting member (18), the elongate connecting member (20) and the connector (22) form an electrical communication channel between the emerging object (12) and the submerged object (14).

Description

© Publication no .: 3,055,607 (to be used only for reproduction orders)

©) National registration number: 16 58248 ® FRENCH REPUBLIC

NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY

COURBEVOIE © IntCI ⁸

B 63 C 11/26 (2017.01), B 63 G 8/00

A1 PATENT APPLICATION

©) Date of filing: 05.09.16. (© Applicant (s): FORSSEA ROBOTICS Company by (© Priority: simplified actions - FR. @ Inventor (s): DREYFUS GAUTIER and CERRAMON MAXIM. (43) Date of public availability of the request: 09.03.18 Bulletin 18/10. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ©) Holder (s): FORSSEA ROBOTICS Company by related: simplified actions. ©) Extension request (s): © Agent (s): CABINET PLASSERAUD.

COMMUNICATION AND TRANSFER SYSTEM BETWEEN AN EMERGED OBJECT AND A SUBMERSIBLE OBJECT, ASSEMBLY COMPRISING A EMERGED OBJECT, A SUBMERSIBLE OBJECT AND METHOD OF COMMUNICATION AND TRANSFER BETWEEN THE OBJECT.

FR 3 055 607 - A1 (u /) The communication and transfer system (10) between an emerged object (12) and an immersed object (14) in a marine (15) or river environment, comprises:

- an umbilical (16) comprising a first end (23) capable of being connected to the emerged object (12) and a second end (26),

- a junction member (18) comprising an electrical transformer (46) and connected to the second end (26) of the umbilical (16),

a long connection member (20) comprising a first end (32) connected to the junction member (18) and a second end (34), and

- a connector (22) connected to the second end (34) of the elongate connection member (20), comprising connection means (62) to the submerged object (14), propulsion means and an automated module positioning with respect to the submerged object (14).

The umbilical (16), the junction member (18), the elongate connection member (20) and the connector (22) form an electrical communication channel between the emerged object (12) and the submerged object (14).

Communication and transfer system between an emerged object and a submerged object, assembly comprising an emerged object, a submerged object and method of communication and transfer between the emerged object and the submerged object

The invention relates to underwater operations and in particular communication systems in a marine or river environment. More specifically, the invention relates to communication and data and energy transfer systems between an emerged object and an immersed object.

Underwater operations, for example for scientific exploration or to carry out inspections or work on an underwater industrial site, are often carried out using two types of submerged vehicles: unmanned underwater vehicles and autonomous underwater robots.

A remotely controlled underwater vehicle, also known by the acronym ROV (Remotely operated vehicle), is connected, by means of an umbilical, to an emerged object, for example a ship floating on the surface of the water or a oil rig. The umbilical provides electrical power to the remote-controlled vehicle and remote control.

An autonomous underwater robot, also known by the acronym AUV (Autonomous underwater vehicle), includes a storage battery which supplies it with the electrical energy necessary for its operation. In addition, it includes a microprocessor which controls its movement and accumulates data related to its underwater mission. Thus, when the autonomous underwater robot completes its mission or its accumulator battery is close to being empty, it goes up towards the emerged object so that the accumulated data can be recovered and the batteries recharged or replaced. This decreases the autonomy underwater of the autonomous underwater robot.

The current economic context of the underwater industries is favorable to a reduction of costs, in particular concerning underwater robotics. For example, in the context of the offshore oil and gas industry, the recent drop in oil prices is forcing actors to reduce the costs of exploring, building and operating sites if they want to maintain a sufficient level of profitability. In addition, the exploitation of underwater mining resources by underwater vehicles has not yet proven its economic viability despite the high concentrations of certain rare metals. Finally, the oceans contain resources that are still little exploited, such as biomolecule reserves, or even marine energies. To date, only 5% of the oceans have been explored, and lowering the costs of underwater exploration campaigns is essential to the proliferation of scientific campaigns. Sovereign states also seek to implement cheaper and more efficient technologies for exploring and exploiting marine resources.

Underwater, ROVs are most often deployed from a cage comprising a winding system (known by the acronym TMS for tether management System). These cages have been democratized since the 1970s because they make it possible to ballast the umbilical and descend deeper vertically from the ship. A cable wound in the cage and connected on the one hand to the cage and on the other hand to the ROV, allows the latter to exit and move in a ball of a radius equal to the length of this cable. The system comprising the umbilical, the cage, the cable and the ROV is heavy and requires the presence of a large vessel on the surface, which increases the cost of the operation.

For example, in 2015, the deployment of a working ROV (that is to say one with a power greater than 100 horsepower) cost € 80,000 per day, of which € 60,000 was used to rent the ship, against only 20,000 € that of the ROV and its teams. Reducing the tonnage of ships operating ROVs is therefore an essential economic element.

Furthermore, the AUVs are not wired to the surface and a relatively small vessel is capable of launching and retrieving them at the end of their mission. However, the regular ascent to the surface of the AUVs, necessary for recharging or replacing the batteries, and for recovering mission data, is a factor of loss of time, and therefore of increasing the cost of using a AUV.

A specialized team (diver, technician) must also be on site to receive the AUV before putting it back in the water. The presence of a ship is therefore permanently necessary on site, even though these AUV robots are capable of operating independently in the marine environment.

Thus, the presence of a ship is the main cost factor for using a robot, whether it is guided (ROV) or not (AUV).

AUVs are limited in power and cannot carry out work or maintenance tasks which require handling heavy tools. Finally, the AUVs communicate only very difficult with the surface. For example, it is practically impossible to exchange video data between the ship and the AUV at the bottom.

Recent technical developments have made it possible to envisage that a resident robot (AUV or ROV), that is to say which remains for a long period on the bottom, can assist a site for long periods without rising to the surface. This is allowed by the presence of a body that hosts the ROV such as a garage, also called a docking station that houses the robot (ROV or AUV) and is connected to the surface via an umbilical.

In another configuration, an element of an underwater industrial site, such as an oil well head, a mechanical, electrical, hydraulic or even electronic unit, or simply a system placed on the ocean floor, may require a regular connection or not with the surface, in order to exchange electricity and / or data.

Thus, in general, the communication and transfer of data and energy between an emerged object and an immersed object is a major challenge for the future.

According to document US-6 390 012, a device is known which makes it possible to communicate, from an emerged object such as a ship, with an autonomous submarine underwater robot during exploration. The device comprises an unmanned underwater vehicle, connected to the emerged object and comprising means of electrical connection to the autonomous underwater robot. The unmanned underwater vehicle is connected, by means of a flexible cable to a rigid, intermediate frame, which carries a flexible cable unwinder. The intermediate frame is connected to the object emerged by means of an umbilical. Thus, the umbilical, the flexible cable and the guided underwater vehicle form an electrical communication channel between the emerged object and the autonomous underwater robot. It is therefore possible to exchange information between the emerged object and the autonomous underwater robot and also to provide the autonomous underwater robot with electrical energy.

However, the device only works for certain specific configurations. Indeed, the device described only applies to a particular type of autonomous underwater robots and to a limited range of depths.

Furthermore, the device does not describe the connection method in open water which cannot be carried out from the information given. Indeed, the device comprises a wet-mate type connector which requires a thrust of several tens of kilos between the unmanned underwater vehicle and the autonomous underwater robot, which would repel the latter. Furthermore, the device described has a significant weight, which prevents its deployment from a light ship. There is also no mention of the method used to locate the submerged autonomous underwater robot.

An objective of the invention is to provide a communication system between any type of emerged object and submerged object at a depth which can exceed one hundred meters, the versatility of which is improved, in order to democratize it.

To do this, there is provided according to the invention a communication and transfer system between an emerged object and an object immersed in a marine or river environment, characterized in that it comprises:

- an umbilical having a first end capable of being connected to the emerged object and a second end,

- a junction member comprising an electrical transformer and connected to the second end of the umbilical,

- a long connecting member comprising a first end connected to the junction member and a second end, and

a connector connected to the second end of the elongated connection member, comprising means for connection to the submerged object, propulsion means and an automated module for positioning relative to the submerged object, the umbilical, the he junction member, the elongate connection member and the connector form an electrical communication channel between the emerged object and the submerged object.

Thus, the junction member is immersed at a depth intermediate between the surface and that of the immersed object. It is therefore possible to transport a high voltage electric current, for example between 1000 and 5000 volts, or even very high voltage, for example between 5000 and 20000 volts, using the umbilical between the submerged object and the junction member. The intensity of the current transported can therefore be less, at equal power supplied, which limits line losses. The transformer converts this high voltage into a lower voltage, consistent with what the submerged object can support. This voltage for the submerged object can be between 30 and 400 volts. It is therefore possible to electrically connect the emerged object and the submerged object even when the latter is located at a significant depth, for example 3000 meters. It is thus in particular possible to provide the submerged object with significant power, for example 200 kW.

In addition, as the connector includes an automated positioning module and propulsion means, it independently approaches the submerged object to connect to it. The connector therefore improves the efficiency of the system by reducing the risk of piloting errors from the surface, especially in poor maritime and weather conditions.

Furthermore, preferably, the submerged object comprises a complementary base, capable of receiving the connector of the communication and transfer system. The additional base advantageously includes an acoustic beacon allowing precise location of the base. Thus, the position according to three dimensions of the space of the base and therefore a fortiori of the submerged object is precisely known.

In addition, the base can have a recognizable shape so that a computer can perform digital processing of the image captured by a possible camera carried by the connector, which thus makes it possible to precisely position the connector relative to the base according to the 3 dimensions of space.

For example, the base can include a member of a particular shape, or a reflective color patch, or even several underwater light-emitting diodes distributed so that a recognizable shape is distinguishable.

It is also possible to combine at least two of these options in order in particular to allow optical guidance in turbid, highly reflective or low visibility waters.

In addition, the socket can have a hollow funnel shape to guide the final approach to the connector and allow perfect alignment between male and female sockets. The connector can also include a device of fins unevenly distributed on the connector and complementary to a network of slots on the base.

In addition, the connector may contain a catching device capable of holding the connector in its base once the connector has entered the funnel. This can, for example, take the form of mechanical dogs which snap into contact with the connector in its socket. It can also take the form of a piston associated with an engine controlled by the on-board computer and whose horizontal movement allows, thanks to the shape of the piston, to bring the connector closer to the base and to maintain the connection. Preferably, the above-mentioned means allow a single position of attachment between the connector and the base.

Alternatively, the elongated connecting member is more flexible than the umbilical.

Moving the connector is therefore easier and the autonomous approach is more reliable. Indeed, the umbilical is intended to be longer than the elongate connecting member and to be relatively straight underwater. Conversely, the elongated connection member is intended to follow the movements of the connector. The umbilical must therefore be more rigid and have greater inertia so that the sea currents do not entrain the junction member and the connector at too great a distance from the submerged object.

Alternatively, the elongated connecting member has neutral buoyancy.

Thus, it effectively dampens the movements of the junction member and the connector therefore does not undergo the stresses linked to the movement of the junction member, movement which may for example be due to stresses originating from the emerged object. surface.

According to one embodiment, the umbilical, the junction member, the elongate connection member and the connector also form an optical communication channel between the emerged object and the submerged object.

It is therefore possible to exchange information or energy in the form of an electrical signal but also an optical signal. The optical signal also makes it possible to exchange data at a high speed, for example several high-definition video signals.

Alternatively, the umbilical and the elongated connecting member contain at least one optical fiber.

Fiber optics is a simple and efficient way to exchange information in the form of an optical signal.

According to one embodiment, the connector comprises a receiver capable of receiving a command to move the emerged object.

Thus, it is also possible to control the movement of the connector from the emerged object in the event, for example, of failure of the automated positioning module. The reliability of the communication system is therefore improved.

Alternatively, the junction member includes a converter from direct current to alternating current and vice versa.

According to one embodiment, the umbilical contains an electric cable capable of transporting an alternating current and / or a direct current.

According to a variant, the elongate connection member contains an electric cable capable of transporting an alternating current and / or a direct current.

According to one embodiment, the umbilical is able to transport a current whose voltage is greater than a voltage of a current that the elongate connecting member is able to transport.

Thus, one can transport a current having properties different from those which are suitable for the submerged object.

Alternatively, the elongate connecting member includes a protective sheath comprising poly (p-phenyleneterephthalamide), also known by the trade name of Kevlar.

Thus, while being flexible, the elongate connecting member is solid. It will be noted in particular that the kevlar is incompressible up to a significant depth, namely up to approximately 3000 meters and also makes it possible to confer on the elongate connection member neutral, even slightly positive buoyancy, up to this limit depth .

According to a variant, floats distributed along the elongate connection member make it possible to impart its neutral buoyancy. These floats can for example be made of incompressible foam and whose positive buoyancy compensates for the negative buoyancy of the elongate connecting member.

According to one embodiment, the joining member comprises at least one ballast.

The junction member is therefore stably positioned underwater.

Alternatively, the junction member includes electrically insulating oil.

Indeed, the junction member is most often in the form of a housing comprising oil in order to electrically isolate the inside and the outside of the junction member. The junction member includes a compensator to balance the external pressure of the marine environment with the internal pressure of the organ, maintaining a slight overpressure from the inside to the outside. Thus, in the event of non-sealing, the insulating oil will come out of the box and prevent the infiltration of salt water with conductive properties. In order to maintain a sufficient level of oil, a tank is associated with the compensator. To balance the pressures, the compensator generally houses a membrane associated with a spring allowing slight overpressure. The reliability of this junction member is therefore increased.

According to one embodiment, the junction member is removably connected to the second end of the umbilical.

This removable connection can also make it possible to transmit the vertical tension from the umbilical to the junction member so as not to put the internal cables to the junction member under tension.

Alternatively, the connector is removably connected to the second end of the elongate connection member.

According to one embodiment, the first end of the elongate connection member is removably connected to the junction member.

It is therefore possible to carry out maintenance operations on the communication system in a simple manner.

According to a variant, the automated connector positioning module comprises at least one of the following navigation tools: a camera, preferably a camera of the high definition (HD) type, a depth gauge, an instantaneous speed sensor, a gyroscope, an inertial unit and a compass. Optionally, the automated positioning module includes an acoustic module and a hydrophone.

On the one hand, the automated positioning module moves in an automated manner reliably and on the other hand, it can send navigation data to the emergent object.

According to one embodiment, the connector propelling means comprise at least two propellants, preferably of the vector type.

A vector type thruster is effective for underwater movement. It could for example be an electronic or hydraulic thruster.

According to a variant, the automated connector positioning module comprises acoustic positioning means.

According to one embodiment, the automated connector positioning module comprises an acoustic communication modem of the Short Base Line (SBL) or Ultra Short Base Line (USBL) type.

Locating the submerged object is therefore easier.

Alternatively, the connector comprises automated means capable of disconnecting the connector from the submerged object in the event of detection of a poor connection between the connector and the submerged object.

Thus, if the integrity of the connector is threatened, for example because the connection between the connector and the submerged object is not waterproof, the latter is automatically disconnected. Likewise, if the tension in the elongate connecting member exceeds a value which would threaten the integrity of the connector, the elongate connecting member or the umbilical. The connector, for example, performs a movement opposite to that described in the hook in order to eject the connector from the funnel of the base. More generally, the connector disconnects from the submerged object.

There is also provided according to the invention an assembly comprising an object immersed in a marine or river environment and a communication system as previously described, the connector of the communication system is connected to the immersed object.

Alternatively, the assembly includes an emerged object, the first end of the umbilical is connected to the emerged object.

According to one embodiment, the object emerged is a ship or an oil or mining extraction platform or an aircraft, preferably, the aircraft is a helicopter.

According to a variant, the submerged object is a vehicle of the remotely-guided underwater vehicle type also known under the name of Remotely operated vehicle (ROV) or autonomous submarine robot also under the name of Autonomous underwater vehicle (AUV), or even a autonomous underwater station or underwater garage placed on the bottom.

Note that the communication system can be used with an underwater vehicle as well as an autonomous underwater robot.

According to the invention, there is also provided a method of establishing communication between an emerged object and an object immersed in a marine or river environment by means of a communication and transfer system as previously described, comprising the following steps:

- we connect the first end of the umbilical to the emerged object,

- we connect the connector to the submerged object.

According to a variant, the emerged object comprises an electric generator and the submerged object comprises at least one battery, the battery is supplied with electric energy from the generator by means of the communication system.

Thus, the emerged object can stay underwater longer and carry out a longer exploration mission.

According to one embodiment, the connector comprises a receiver capable of receiving a command to move the connector and the submerged object comprises a transmitter capable of transmitting a command to move the connector, the movement of the connector is controlled from the submerged object.

Thus, in the event of failure of the automated positioning module, it is always possible to approach the connector of the submerged object.

It should be noted that preferably, the junction member does not include a reel for the elongate connection member. Indeed, the elongate connection member generally has a relatively short length, which makes it possible to dispense with the reel and therefore to lighten the communication and transfer system.

We will now describe, by way of nonlimiting example, an embodiment of the invention using the following figures:

FIG. 1 is a front view of a communication system according to the invention, of an immersed object and of an emerged object,

FIG. 2 schematically represents a junction member and a connector of the telecommunications system,

FIG. 3 illustrates an umbilical of the communication system seen in section along a plane transverse to a longitudinal axis of the umbilical, and

- Figure 4 is a perspective view of the joining member.

FIG. 1 shows a communication and transfer system 10 according to an exemplary embodiment of the invention. The communication system 10 is intended to allow communication between an emerged object and an immersed object.

Here, the emerged object is in the form of a ship 12. More generally, the emerged object can be any type of floating object, but also a flying object such as a helicopter, preferably in hovering flight. It will in fact be noted that the communication system 10 can be deployed from a low mass emergent object. The emerged object can also be mounted on pillars resting on a seabed such as an oil or mining extraction platform.

The submerged object is in the form of an underwater station 14. Alternatively, the submerged object can be an autonomous underwater robot known by the acronym AUV (Autonomous underwater vehicle) or an underwater vehicle remotely controlled, also known by the acronym ROV (Remotely operated vehicle). The submerged object can be an underwater unit for generating electricity, such as a tidal turbine or wind turbine pillar, or an underwater unit intended for carrying out scientific measurements. More generally, the submerged object can be any type of vehicle or object capable of being submerged.

The underwater station 14 has a fixed position. Here it is of the underwater garage type intended to house one or more autonomous underwater robots or unmanned underwater vehicles. According to a variant, the submarine station 14 can also, for example, be a head of an underwater oil or gas well.

The underwater station 14 is here immersed in a marine environment, namely an ocean 15, having a surface 17 on which the ship 12 floats. It can also be immersed in a sea. It can also be immersed in a fluvial environment and more generally, in any type of sufficiently deep body of water. In addition, the submarine station 14 includes a storage battery which supplies it with the energy necessary for its operation.

The communication system 10 comprises an umbilical 16, a junction member 18, a long connection member 20 and a connector 22.

The umbilical 16 has a slender shape, has a longitudinal axis and includes a first longitudinal end 23 which is connected to an electric generator and to an optical or light signal generator of the vessel 12. For this purpose, the vessel 12 comprises a reel 24, powered by a motor, for example supplied with electrical energy by a power pack type accumulator battery, which allows the umbilical 16 to be unwound from the ship 12 deep into the ocean 15. The reel 24 is also controlled by control means such as a console electrically connected to the motor.

The umbilical 16 comprises a second longitudinal end 26, opposite the first 23 and to which is connected a first longitudinal end 28 of the junction member 18. At a second longitudinal end 30 opposite the first end 28, the member junction 16 is connected to a first longitudinal end 32 of the elongate connection member 20. The elongate connection member 20 comprises a second longitudinal end 34, opposite the first end 32, to which the connector 22 is connected.

Note also that the connections between the second longitudinal end 26 of the umbilical 16 and the first longitudinal end 28 of the junction member 18, between the second longitudinal end 30 of the junction member 18 and the first longitudinal end 32 of the elongate connection member 20 and between the second longitudinal end 34 of the elongate connection member 20 and the connector 22 are removable, for example by means of connectors comprising sealing means. Thus, it is easy to replace one of the parts of the communication system 10, for example if it is necessary to carry out maintenance operations.

The umbilical 16 has sufficient weight, inertia and rigidity to maintain a relatively straight character despite the ocean currents. The umbilical 16 further includes a steel frame 19 to withstand the stress it experiences. The umbilical 16 thus has a negative buoyancy. In addition, it has a capacity to hold sufficient traction to support the junction member 18, connected to the second longitudinal end 26 of the umbilical

16. As can be seen in FIG. 3, according to one embodiment, the umbilical 16 comprises three electric cables 36 dedicated to the circulation of an alternating current. It also optionally includes two electric cables 38 dedicated to the circulation of a direct current. In addition, the umbilical 16 comprises, still optionally, three optical fibers 40 capable of allowing the circulation of light information. The electric cables 36, 38 and the optical fibers 40 run the entire length of the umbilical 16 from the first longitudinal end 23 to the second longitudinal end 26 and form an electro-optical inlet for the junction member 18 as shown below. The electric current flowing in the umbilical 16 preferably has a voltage between 1500 and 5000 volts. In addition, there is experimentally a drop in voltage between the first 23 and second 26 longitudinal ends of the umbilical 16 due to losses related to the transport of current underwater and over a significant distance, for example of the order of 3000 meters.

The junction member 18, in particular illustrated in FIGS. 2 and 4, is in the form of a member containing a junction box 44 protected by a cage 45 comprising a plurality of bars making it possible to protect the junction box 44 and resist traction. The bars are preferably made of metal. The joining member 18 is preferably cylindrical in shape. It includes an electro-optical inlet 42 which takes the form of a communication channel which encloses the electric cables 36, 38 and the optical fibers 40 and which opens into the junction box 44. The junction member 18 comprises oil in particular to electrically isolate the junction box 44 and the electro-optical inlet 42 from the ocean. As can be seen on the right-hand side of FIG. 2 which schematically represents the junction box 44, the latter comprises an electrical transformer 46, capable in particular of transforming a high voltage current into low voltage current and vice versa, an electrical output 48 and an optical output 50. The electrical transformer 46 is connected to the two electrical cables 38 dedicated to the circulation of a direct current. Conversely, the electric cables 36 dedicated to the circulation of an alternating current and the optical fibers 40 pass through the junction box 44 and the junction member 18 without their properties being modified. According to variants of this embodiment, the electric transformer 46 is also or only connected to the electric cables 36 dedicated to the circulation of an alternating current. The electric transformer 46 is then preferably of the power transformer type, that is to say that it does not modify the frequency of the alternating current which it transforms. However, the electric transformer 46 may also be able to modify a frequency of a direct current. In addition, the electrical transformer 46 may also be able to transform an alternating current into direct current and vice versa. Thus, the electric cables 36, 38 and the optical fibers 40 are sealed. In addition, the joining member 18 comprises a ballast so that the umbilical 16 is stretched and straight as illustrated in FIG. 1. The ballast can comprise a plurality of objects. Thus, the weight of the ballast can be adjusted to the desired length of the submerged umbilical 16. Ballast can also be removed. In addition, the cage 45 also fulfills the function of a ballast.

The elongate connection member 20 has greater flexibility than that of the umbilical 16 so as not to impede the movements of the connector 22. Similarly to the umbilical 16, it contains a plurality of electric cables dedicated to circulation of a direct current, dedicated to the circulation of an alternating current and a plurality of optical fibers dedicated to the propagation of a light signal. In addition, it may include a protective sheath comprising poly (p-phenyleneterephthalamide) also known by the acronym PPD-T and its trade name Kevlar. This material makes it possible to give the elongate connection member 20 adequate strength and flexibility. The electric current flowing in the elongate connection member 20 preferably has a voltage between 40 and 400 volts.

The connector 22 comprises an electro-optical inlet 53, connected to the elongate connection member 20, an electrical module 54, connected to the electro-optical inlet 53, which comprises a compensator 56 and a plurality of optical fibers 58 and electric cables 60, dedicated to the circulation of a direct and / or alternating current, and connected on the one hand to an output of the electrical module 54 and on the other hand to an electro-optical connection member 62. This connection member electro-optic 62 forms a means of connection to the underwater station 14. It is therefore generally complementary to an electro-optical connection member carried by the underwater station 14 as will be seen below. The compensator 56 makes it possible to balance the external pressure of the marine environment with the internal pressure of the connector 22, while maintaining a slight overpressure from the inside to the outside. The compensator 56 for this purpose comprises a membrane and a spring associated with a reservoir of insulating oil.

The connector 22 also includes two thrusters, for example, of the vector type which are here in the form of propellers and which allow the connector 22 to move underwater. The two propellants therefore form means of propelling the connector 22. The two propellants require significant power to move the connector 22. Thus, part of the electrical energy supplied by the vessel 12 is intended to supply the two propellants. The displacements of the connector 22 are limited in a ball which has for center the second longitudinal end 30 of the junction member 18 and for radius the length of the elongate connection member 20. The connector 22 is capable of moving in three non-coplanar directions of space and is able to rotate at three angles around its center of gravity.

Thus, during the vertical descent of the connector 22 underwater, the latter verifies its position so as to avoid twisting the elongate connection member 20.

Furthermore, according to an advantageous variant of this embodiment, the connector comprises four horizontal thrusters and three vertical thrusters. These thrusters are dimensioned so as to be able to provide sufficient vertical thrust during the connection between the connector 22 and the underwater station 14.

In addition, the connector 22 comprises an automated positioning module 64, comprising at least one of the following navigation tools: a camera, possibly of the high definition (HD) type, a depth gauge, an altimeter, an instant speed sensor, one or more several gyroscopes, one or more accelerometers, one or more compasses.

The positioning module 64 makes it possible to determine the position, according to six degrees of freedom, of the connector 22, in particular relative to the underwater station 14. In addition, the connector 22 and the underwater station 14 can be equipped with means positioning systems with a USBL (Ultra Short Base Line) positioning module. The USBL positioning module can for example be installed on the connector 22, while a transponder is installed on the underwater station 14. The USBL positioning module is then configured to transmit a signal to which the transponder responds. By measuring certain acoustic properties of signals, such as for example the time elapsed between the emission of the signal and the reception of the response signal, the phase differences of the response signal received measured at different points of the USBL module, the USBL module of the connector 22 determines the position of the submarine station 14.

Depending on the type of acoustic position sensor and the configuration chosen, acoustic data communication may be useful.

Thus, the connector 22 is able to automatically determine its position relative to the underwater station 14 and to move in order to approach it. In addition, the connector is able to connect electro-optically to the underwater station 14 by means of the electro-optical connection member 62. Thus, the underwater station 14 comprises a connection member electro-optic which is complementary to the electro-optical connection member 62 carried by the connector 22. The connection member carried by the underwater station 14 is here a base 21 complementary to the connector 22. The base comprises in particular one or more recognizable optical shapes. In addition, the connector 22 includes automated means capable of disconnecting the connector 22 from the underwater station 14 in the event of detection of a poor connection between the connector 22 and the underwater station 14. Thus, the connector 22 is able to disconnect from the submarine station 14 if, for example, the connection between these two objects is not waterproof or if a foreign body exerts pressure on the connector 22 which risks damaging it. To this end, the elongate connection member 20 comprises a tension sensor. If the measured voltage exceeds a predetermined threshold, for example because the ship 12 is moving away from the underwater station 14, the connector 22 is disconnected from the underwater station 14.

Thus, when the connector is connected to the underwater station 14, the umbilical 16, the junction member 18, the elongate connection member 20 and the connector 22 form an electrical and optical communication channel between the vessel 12 and underwater station 14. It is therefore possible to exchange information between ship 12 and underwater station 14. For example, it is possible, from ship 12, to collect information collected by the station under -marine 14. It is also possible to provide the submarine station 14 with information relating to an area that ROVs or AUVS, hosted by the submarine station 14, must explore. In addition, it is possible to recharge the storage battery of the submarine station 14. The latter can therefore remain submerged for a longer time or in turn recharge the storage battery of the hosted ROVs or AUVS. It is also possible to update software embedded in the submarine station 14 or to reschedule a mission, for example of exploration or maintenance, for the ROVS or AUVS hosted by it.

As the junction member 18 comprises an electrical transformer 46, it is possible to transport at high voltage, and therefore efficiently, while minimizing line losses, the current in the umbilical 16 over a long distance. Then, it is possible to convert the current so that its properties are adapted to be used by the submarine station 14. In particular, the submarine station 14 needs a low voltage current to recharge its accumulator battery. Thus, the umbilical 16 is able to transport a current whose voltage is greater than a voltage of a current that the elongate connecting member 20 is able to transport. Thus, the umbilical 16 can for example have a length of 3000 meters and the elongate connecting member 20 a length of a hundred meters. Finally, it is possible to recharge quickly, for example in about 20 minutes the batteries of the submarine station or the submerged system.

We will now describe the method of using the communication and transfer system 10.

Beforehand, the underwater station 14 is submerged, for example at a depth of about 3000 meters.

Then, when it is necessary for example to recharge the accumulator battery of the underwater station 14 in the ocean 15 or to collect information that it has collected, the ship 12 is moved on the surface 17 of the ocean 15. When the ship 12 is substantially on a portion of the surface 17 of the ocean 15 which is situated in the same vertical direction as the underwater station 14, the first longitudinal end 23 of the umbilical 16 is connected to an electrical or optical member of the vessel 12 such as a generator or a computer capable of collecting data. To do this, the vessel 12 uses a positioning system of the DPS type, for Dynamic positioning System, which makes it possible to position, with an accuracy of the order of a few centimeters, the vessel 12 by means of bow thrusters.

Then, the retractor 24 is actuated so as to unwind the umbilical 16 in the ocean 15. Thanks to the ballast of the joining member 18, the umbilical 16 is unwound rectilinearly in the water as shown in the Figure 1. Since the connector 22 and its elongate connection member 20 are in neutral buoyancy, even slightly positive, the connector 22 can actuate its vertical thrusters in order to avoid winding of the elongate connection member 20 around the 'umbilical 16. Then, when the connector 22 is close enough to the underwater station 14 so that it can detect and reach it, the connector 22 is actuated. Thanks to its automated positioning module 64 and its means propulsion, the connector 22 is positioned near the underwater station 14 and connects to the latter. The connector 22 has therefore been connected to the underwater station 14. It is therefore possible, for example, to supply the accumulator battery of the underwater station 14 with electrical energy originating, for example, from the generator of the ship 12. Thus, the underwater station 14, and the hosted ROVS and AUVs, can remain underwater for a significant period of time, which reduces the cost of underwater exploration.

Of course, many modifications can be made to the invention without departing from the scope thereof.

We can in particular vary the lengths of the umbilical 16 and the elongate connection member 20.

The junction member 18 may also include any type of electrical and / or optical device.

It is also possible to use any type of means for positioning the connector 22 relative to the underwater station 14, and between the connector 22 and the ship 12.

The connector 22 can carry more than one electro-optical connection member 62.

In addition, the connector 22 may be able to connect to the underwater station 14 without being directly physically connected to it. For example, the connector 22 and the submarine station 14 can exchange data and energy by electromagnetic induction or by acoustic means.

Claims (27)

Claims 1. Communication and transfer system (10) between an emerged object (12) and an immersed object (14) in a marine (15) or river environment, characterized in that it comprises: - an umbilical (16) comprising a first end (23) capable of being connected to the emerged object (12) and a second end (26), - a junction member (18) comprising an electrical transformer (46) and connected to the second end (26) of the umbilical (16), a long connection member (20) comprising a first end (32) connected to the 'joining member (18) and a second end (34), and - a connector (22) connected to the second end (34) of the elongate connection member (20), comprising connection means (62) to the submerged object (14), propulsion means and an automated module positioning relative to the submerged object (14), the umbilical (16), the junction member (18), the elongate connection member (20) and the connector (22) form an electrical communication channel between the emerged object (12) and the submerged object (14). 2. System (10) according to the preceding claim, in which the elongate connection member (20) is more flexible than the umbilical (16). 3. System (10) according to any one of the preceding claims, in which the umbilical (16), the junction member (18), the elongate connection member (20) and the connector (22) also form an optical communication channel between the emerged object (12) and the submerged object (14). 4. System (10) according to the preceding claim, wherein the umbilical (16) and the elongate connection member (20) contain at least one optical fiber (40). 5. System (10) according to any one of the preceding claims, the connector (22) comprises a receiver capable of receiving a command to move the emerged object (12). 6. System (10) according to any one of the preceding claims, in which the junction member (18) comprises a converter from direct current to alternating current and vice versa. 7. System (10) according to any one of the preceding claims, in which the umbilical (16) contains an electric cable (36, 38) capable of transporting alternating current and / or direct current. 8. System (10) according to any one of the preceding claims, in which the elongate connection member (20) contains an electric cable capable of transporting alternating current and / or direct current. 9. System (10) according to any one of the preceding claims, in which the umbilical (16) is capable of transporting a current whose voltage is greater than a voltage of a current that the elongate connecting member (20 ) is suitable for transport. 10. System (10) according to any one of the preceding claims, in which the elongate connection member (20) comprises a protective sheath comprising poly (p-phenyleneterephthalamide), preferably the elongate connection member present neutral buoyancy. 11. System (10) according to any one of the preceding claims, in which the joining member (18) comprises at least one ballast. 12. System (10) according to any one of the preceding claims, in which the junction member (18) comprises electrically insulating oil. 13. System (10) according to any one of the preceding claims, in which the junction member (18) is removably connected to the second end (26) of the umbilical (16). 14. System (10) according to any one of the preceding claims, in which the connector (22) is connected to the second end (34) of the elongate connection member (20) in a removable manner. 15. System (10) according to any one of the preceding claims, in which the first end (32) of the elongate connection member (20) is removably connected to the junction member (18). 16. System (10) according to any one of the preceding claims, in which the automated module (64) for positioning the connector (22) comprises at least one of the following navigation tools: a camera, preferably a camera of the high definition (HD) type, a depth gauge, an instant speed sensor, a gyroscope, an inertial unit and a compass. 17. System (10) according to any one of the preceding claims, in which the connector propulsion means (22) comprise at least two propellants, preferably of the vector type. 18. System (10) according to any one of the preceding claims, in which the automated positioning module (64) of the connector (22) comprises acoustic positioning means. 19. System (10) according to the preceding claim, in which the automated positioning module (64) of the connector (22) comprises an acoustic communication modem of the Short Base Line (SBL) or Ultra Short Base Line (USBL) type. 20. System (10) according to any one of the preceding claims, in which the connector (22) comprises automated means able to disconnect the connector (22) from the submerged object (14) in the event of detection of a bad connection between the connector (22) and the submerged object (14). 21. An assembly comprising an immersed object (14) in a marine (15) or river environment and a communication and transfer system (10) according to any one of the preceding claims, the connector (22) of the communication system (10 ) is connected to the submerged object (14). 22. An assembly according to the preceding claim, comprising an emerged object (12), the first end (23) of the umbilical (16) is connected to the emerged object (12). 23. The assembly as claimed in the preceding claim, in which the emerged object (12) is a ship or a mining or oil extraction platform or an aircraft preferably, the aircraft is a helicopter. 24. The assembly as claimed in any one of claims 21 to 23, in which the submerged object (14) is a vehicle of the unmanned underwater vehicle type also known under the name of Remotely operated vehicle (ROV) or an underwater robot. autonomous sailor also under the name of Autonomous underwater vehicle (AUV) or an autonomous underwater station or an underwater garage placed on a bottom. 25. Method of establishing communication between an emerged object (12) and an immersed object (14) in a marine (15) or river environment by means of a communication system and 5 transfer (10) according to any one of claims 1 to 20, comprising the following steps: - we connect the first end (23) of the umbilical (16) to the emerged object (12), - we connect the connector (22) to the submerged object (14). 10 26. Method according to the preceding claim, wherein the emerged object (12) comprises an electric generator and the submerged object (14) comprises at least one battery, the battery is supplied with electric energy from the generator by means of the system of communication (10). 15 27. Method according to any one of claims 24 and 25, in which the communication system (10) is according to claim 5, the emerged object (12) comprises a transmitter capable of transmitting a command to move the connector (22 ), the movement of the connector (22) is controlled from the emerged object (12). 1/3 CM.