HRP20150497T1 - Autonomno podvodno vozilo za prikupljanje geofiziäśkih podataka - Google Patents
Autonomno podvodno vozilo za prikupljanje geofiziäśkih podataka Download PDFInfo
- Publication number
- HRP20150497T1 HRP20150497T1 HRP20150497TT HRP20150497T HRP20150497T1 HR P20150497 T1 HRP20150497 T1 HR P20150497T1 HR P20150497T T HRP20150497T T HR P20150497TT HR P20150497 T HRP20150497 T HR P20150497T HR P20150497 T1 HRP20150497 T1 HR P20150497T1
- Authority
- HR
- Croatia
- Prior art keywords
- autonomously
- underwater vehicle
- equipped underwater
- gradiometer
- accordance
- Prior art date
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title 1
- 238000005259 measurement Methods 0.000 claims 3
- 238000005481 NMR spectroscopy Methods 0.000 claims 1
- 230000004913 activation Effects 0.000 claims 1
- 238000004458 analytical method Methods 0.000 claims 1
- 238000007654 immersion Methods 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 230000010355 oscillation Effects 0.000 claims 1
- 230000035945 sensitivity Effects 0.000 claims 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2211/00—Applications
- B63B2211/02—Oceanography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Geophysics And Detection Of Objects (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Automation & Control Theory (AREA)
Claims (17)
1. Autonomno opremljeno podvodno vozilo (100) za prikupljanje gravimetrijskih i magnetskih gradijenata s morskoga dna, naznačeno time da sadrži:
- barem jedan gravimetrijski gradiometar (5)
- barem jedan magnetski gradiometar (4).
2. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 1, pri čemu navedeni gravimetrijski gradiometar (5) mjeri vertikalnu komponentu Tzz gravimetrijskog gradijenta.
3. Autonomno opremljeno podvodno vozilo (100) sukladno bilo kojem od prethodnih Zahtjeva, pri čemu se navedeni gravimetrijski gradiometar (5) sastoji od dva akcelerometra osjetljivosti 1
[image]
3. unutar opsega frekvencija nižih od
[image]
4. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 3, pri čemu je navedeni opseg frekvencija
[image]
Hz do
[image]
4. Hz.
5. Autonomno opremljeno podvodno vozilo (100) sukladno bilo kojem od prethodnih Zahtjeva, pri čemu je navedeni gravimetrijski gradiometar (5) pozicioniran u baricentru navedenog autonomnog opremljenog podvodnog vozila (100).
6. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 1, pri čemu se navedeni magnetni graviometar (4) sastoji od barem dva skalarna magnetometra (12) integrirana s navedenim vozilom (100) i smještena unutar i/ili izvan trupa (1) vozila (100).
7. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 6, pri čemu je navedenih skalarnih magnetometara (12) koji formiraju navedeni magnetski gradiometar (4) 3.
8. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 6, pri čemu su navedeni skalarni magnetometri (12) pozicionirani na udaljenosti od 20 cm do 10 m jedan od drugoga.
9. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 8, pri čemu su navedeni skalarni magnetometri (12) pozicionirani na udaljenosti od 40 cm do 1,5 m jedan od drugog.
10. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 6, pri čemu navedeni skalarni magnetometri (12) koji formiraju navedeni magnetski gradiometar (4) vrše mjerenja magnetskog polja s točnošću do 0.01 nT.
11. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 10, pri čemu navedeni skalarni magnetometri (12) koji formiraju navedeni magnetski gradiometar (4) vrše mjerenja magnetskog polja s točnošću do 0.01 nT.
12. Autonomno opremljeno podvodno vozilo (100) sukladno bilo kojem od Zahtjeva od 6 do 11, pri čemu navedeni skalarni magnetometri (12) mjere magnetsko polje pomoću tehnologije Nuklearne Magnetne Rezonance.
13. Autonomno opremljeno podvodno vozilo (100) sukladno bilo kojem od prethodnih Zahtjeva, koje sadrži:
- trup (1);
- barem jedan pogonski sustav (3);
- barem jedan aktivacijski sustav (2);
- barem jedan opskrbni sustav (7);
- barem jedan kontrolni sustav (6).
14. Upotreba autonomnog opremljenog podvodnog vozila (100) sukladno bilo kojem od prethodnih Zahtjeva, za identifikaciju područja koja su potencijalno korisna za eksploataciju nafte.
15. Metoda analize grofizičkih karakteristika podtla, koja se sastoji u prikupljanju gravimetrijskih i magnetskih gradijenata u podvodnom okolišu naznačena sljedećim fazama:
- upotreba autonomnog opremljenog podvodnog vozila (100) sukladno bilo kojem od zahtjeva 1 – 13;
- uranjanje navedenog vozila (100) u blizinu morskog dna;
- navigacija duž predviđene rute;
- prikupljanje i čuvanje podataka prikupljenih pomoću navedenih gradiometara i navedenih instrumenata u korelaciji s točkom geografskog mjerenja;
- pribavljanje prikupljenih podataka i njihova upotreba za geofizičku analizu podtla.
16. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 1, pri čemu navedeni gravimetrijski gradiometar (5) sadrži:
- prvo sferično kućište (13) spojeno s autonomnim opremljenim podvodnim vozilom (100) i prilagođeno za podnošenje visokih pritisaka;
- drugo kućište (14) manjih dimenzija od prvog kućišta (13) i povezano s njim pomoću sustava kardanskih zglobova (17);
- treće kućište (15) manjih dimenzija od drugog (14) povezano s njime pomoću kardanskog zgloba (18) koji omogućava oscilacije unutar drugog kućišta (14), pri čemu navedeno treće kućište ima sustav utega (19) instaliran u donjem dijelu;
- dva akcelerometra (16) poravnata duž vertikale, smještena na udaljenosti manjoj od 60 cm jedan od drugoga i učvršćena unutar strukture trećeg kućišta (15)
17. Autonomno opremljeno podvodno vozilo (100) sukladno Zahtjevu 16, pri čemu su navedeni akcelerometri (16) gravimetrijskog gradiometra (5) smješteni na udaljenosti raspona 10 do 40 cm jedan od drugog.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ITMI2010A001952A IT1402411B1 (it) | 2010-10-22 | 2010-10-22 | Veicolo subacqueo autonomo per l'acquisizione di dati geofisici. |
| PCT/EP2011/068539 WO2012052564A1 (en) | 2010-10-22 | 2011-10-24 | Autonomous under water vehicle for the acquisition of geophysical data |
| EP11774050.6A EP2630520B1 (en) | 2010-10-22 | 2011-10-24 | Autonomous under water vehicle for the acquisition of geophysical data |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| HRP20150497T1 true HRP20150497T1 (hr) | 2015-08-14 |
Family
ID=43738070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| HRP20150497TT HRP20150497T1 (hr) | 2010-10-22 | 2015-05-11 | Autonomno podvodno vozilo za prikupljanje geofiziäśkih podataka |
Country Status (15)
| Country | Link |
|---|---|
| US (1) | US20140152455A1 (hr) |
| EP (1) | EP2630520B1 (hr) |
| CN (1) | CN103261920B (hr) |
| AP (1) | AP3003A (hr) |
| AU (1) | AU2011317548B2 (hr) |
| BR (1) | BR112013009488B1 (hr) |
| CA (1) | CA2813471C (hr) |
| CY (1) | CY1116431T1 (hr) |
| DK (1) | DK2630520T3 (hr) |
| ES (1) | ES2537449T3 (hr) |
| HR (1) | HRP20150497T1 (hr) |
| IT (1) | IT1402411B1 (hr) |
| MX (1) | MX2013004271A (hr) |
| PT (1) | PT2630520E (hr) |
| WO (1) | WO2012052564A1 (hr) |
Families Citing this family (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR112014007823B1 (pt) * | 2011-11-11 | 2021-10-26 | Exxonmobil Upstream Research Company | Método para determinar a localização, tamanho, e composição de fluido de um acúmulo de hidrocarbonetos de subsuperfície |
| RU2613219C2 (ru) | 2011-11-11 | 2017-03-15 | Эксонмобил Апстрим Рисерч Компани | Способ наблюдения за коллектором с использованием данных о скученных изотопах и/или инертных газах |
| RU2522168C2 (ru) * | 2012-10-12 | 2014-07-10 | Долбунова Ирина Ивановна | Устройство оперативного освещения подводной обстановки в акваториях мирового океана |
| AU2014385229B2 (en) | 2014-03-07 | 2017-04-20 | Exxonmobil Upstream Research Company | Exploration method and system for detection of hydrocarbons from the water column |
| US9829602B2 (en) | 2014-07-18 | 2017-11-28 | Exxonmobil Upstream Research Company | Method and system for identifying and sampling hydrocarbons |
| US9453828B2 (en) | 2014-07-18 | 2016-09-27 | Exxonmobil Upstream Research Company | Method and system for identifying and sampling hydrocarbons with buoys |
| US9638828B2 (en) | 2014-07-18 | 2017-05-02 | Exxonmobil Upstream Research Company | Method and system for performing surveying and sampling in a body of water |
| KR20160049507A (ko) * | 2014-10-01 | 2016-05-09 | 오션 플루어 지오피직스 인코포레이티드 | 자율 수중선 매핑 조사용 자기 데이터의 보상 |
| CN105388533B (zh) * | 2015-10-23 | 2017-09-08 | 国家海洋局第二海洋研究所 | 安装于潜器中磁力仪磁干扰的陆上校正方法 |
| CN106019317B (zh) * | 2016-05-17 | 2017-12-08 | 滨州学院 | 一种用于水体悬浮测绘的gps接受机 |
| CN106019316B (zh) * | 2016-05-18 | 2017-11-03 | 滨州学院 | 一种具有机动性的gps接受机及其使用方法 |
| CN107678055B (zh) * | 2017-08-29 | 2018-08-28 | 广州海洋地质调查局 | 一种海域天然气水合物海底甲烷监测系统及方法 |
| KR101947326B1 (ko) * | 2018-09-21 | 2019-05-21 | 한국지질자원연구원 | 자체부력형 탄성파 탐사 모듈을 포함하는 탄성파 탐사 장치 및 그 방법 |
| CN109766946B (zh) * | 2019-01-11 | 2023-04-07 | 中国海洋大学 | 基于复杂网络构建的自主式水下航行器航行数据分析方法 |
| US20200240899A1 (en) | 2019-01-24 | 2020-07-30 | Square Robot, Inc. | Systems, methods and apparatus for in-service tank inspections |
| DE102019212105A1 (de) * | 2019-08-13 | 2021-02-18 | Siemens Aktiengesellschaft | Betriebsverfahren für ein Minenräumsystem und Minenräumsystem zur Auslösung von Seeminen |
| FR3101326B1 (fr) * | 2019-10-01 | 2021-10-22 | Abyssa | Système d’exploration sous-marine comprenant une flotte de drones |
| AU2020358773A1 (en) * | 2019-10-01 | 2022-04-21 | Abyssa | Submarine exploration system comprising a fleet of drones |
| FR3101324B1 (fr) * | 2019-10-01 | 2021-10-22 | Abyssa | Système d’exploration sous-marine comprenant une flotte de drones |
| CN110906930B (zh) * | 2019-12-18 | 2021-08-27 | 中国人民解放军61540部队 | 一种联合auv的水下重力灯塔潜艇导航方法及系统 |
| EP4085002A4 (en) * | 2020-01-06 | 2024-03-06 | Dive Technologies Inc. | MARINE VEHICLE SYSTEMS AND METHODS |
| NO347366B1 (en) * | 2021-10-14 | 2023-10-02 | Argeo Robotics As | A system for tracking a subsea object |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2660062A (en) * | 1950-03-17 | 1953-11-24 | Robert H Ray Co | Gravimeter apparatus |
| US6476610B1 (en) * | 2001-04-24 | 2002-11-05 | The United States Of America As Represented By The Secretary Of The Navy | Magnetic anomaly sensing system and methods for maneuverable sensing platforms |
| AU2003245762B2 (en) * | 2002-06-28 | 2008-01-31 | Gedex Inc. | System and method for surveying underground density distributions |
| US20050027489A1 (en) * | 2002-08-14 | 2005-02-03 | Yale University | Phase extraction between coupled atom interferometers using ellipse-specific fitting |
| US7113868B2 (en) | 2004-08-11 | 2006-09-26 | Bell Geospace, Inc. | Method and system for processing geophysical survey data |
| GB2428827B (en) * | 2005-07-27 | 2010-06-16 | Arkex Ltd | Gravity survey data processing |
| GB2451807B (en) * | 2007-08-02 | 2012-01-18 | Arkex Ltd | Geophysical data processing systems |
| US8448592B2 (en) * | 2007-10-30 | 2013-05-28 | Ocean Server Technology, Inc. | External rescue and recovery devices and methods for underwater vehicles |
| US20100153050A1 (en) * | 2008-11-11 | 2010-06-17 | Zumberge Mark A | Autonomous Underwater Vehicle Borne Gravity Meter |
-
2010
- 2010-10-22 IT ITMI2010A001952A patent/IT1402411B1/it active
-
2011
- 2011-10-24 EP EP11774050.6A patent/EP2630520B1/en active Active
- 2011-10-24 US US13/879,961 patent/US20140152455A1/en not_active Abandoned
- 2011-10-24 ES ES11774050.6T patent/ES2537449T3/es active Active
- 2011-10-24 CN CN201180050036.5A patent/CN103261920B/zh active Active
- 2011-10-24 WO PCT/EP2011/068539 patent/WO2012052564A1/en active Application Filing
- 2011-10-24 MX MX2013004271A patent/MX2013004271A/es active IP Right Grant
- 2011-10-24 CA CA2813471A patent/CA2813471C/en active Active
- 2011-10-24 DK DK11774050.6T patent/DK2630520T3/da active
- 2011-10-24 AP AP2013006802A patent/AP3003A/xx active
- 2011-10-24 AU AU2011317548A patent/AU2011317548B2/en active Active
- 2011-10-24 PT PT117740506T patent/PT2630520E/pt unknown
- 2011-10-24 BR BR112013009488-5A patent/BR112013009488B1/pt active IP Right Grant
-
2015
- 2015-05-11 HR HRP20150497TT patent/HRP20150497T1/hr unknown
- 2015-06-26 CY CY20151100552T patent/CY1116431T1/el unknown
Also Published As
| Publication number | Publication date |
|---|---|
| CY1116431T1 (el) | 2017-02-08 |
| BR112013009488B1 (pt) | 2021-09-08 |
| AU2011317548B2 (en) | 2014-07-31 |
| IT1402411B1 (it) | 2013-09-04 |
| CN103261920A (zh) | 2013-08-21 |
| US20140152455A1 (en) | 2014-06-05 |
| EP2630520B1 (en) | 2015-04-01 |
| DK2630520T3 (da) | 2015-06-15 |
| AU2011317548A1 (en) | 2013-05-02 |
| CN103261920B (zh) | 2016-11-02 |
| CA2813471A1 (en) | 2012-04-26 |
| MX2013004271A (es) | 2013-07-05 |
| EP2630520A1 (en) | 2013-08-28 |
| AP2013006802A0 (en) | 2013-04-30 |
| CA2813471C (en) | 2019-01-08 |
| PT2630520E (pt) | 2015-07-31 |
| ITMI20101952A1 (it) | 2012-04-23 |
| AP3003A (en) | 2014-10-31 |
| BR112013009488A2 (pt) | 2016-07-26 |
| ES2537449T3 (es) | 2015-06-08 |
| WO2012052564A1 (en) | 2012-04-26 |
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