WO1999064941A1 - Systeme et procede de telepresence pour gouverner un navire a distance - Google Patents

Systeme et procede de telepresence pour gouverner un navire a distance Download PDF

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Publication number
WO1999064941A1
WO1999064941A1 PCT/ES1999/000168 ES9900168W WO9964941A1 WO 1999064941 A1 WO1999064941 A1 WO 1999064941A1 ES 9900168 W ES9900168 W ES 9900168W WO 9964941 A1 WO9964941 A1 WO 9964941A1
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WO
WIPO (PCT)
Prior art keywords
ship
remote
board
operator
captain
Prior art date
Application number
PCT/ES1999/000168
Other languages
English (en)
Spanish (es)
Inventor
Lucia JAÑEZ GARCÍA
Javier JAÑEZ GARCÍA
Original Assignee
Inversiones Cala Salada, S.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inversiones Cala Salada, S.L. filed Critical Inversiones Cala Salada, S.L.
Priority to AU40416/99A priority Critical patent/AU4041699A/en
Publication of WO1999064941A1 publication Critical patent/WO1999064941A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles

Definitions

  • the method object of the invention is characterized in that, during navigation, the captain or operator is located at the remote bridge command post, away from the ship, usually on land. From there and using the means provided by the remote bridge, The captain (or person responsible and trained to command the ship) can handle all the navigation instrumentation, select the data, graphics, images that he wishes to obtain from the instruments and status indicators, receive images and sound from inside and outside of the ship, and act on all its governing bodies All this with the same effectiveness as if it were on the on-board command bridge
  • the system object of the invention consists of a computer and telecommunications device consisting of three components, a system embarked (1) on the ship, a remote bridge (2) located on land or at another point away from the ship, and a telepresence link (3)
  • the invention allows a captain or operator located j daub to the system remote control remote vessel (4) navigation, for such a purpose all onboard information you need visual and acoustic information of the ship and its surroundings as well as information provided by the sensors and instruments
  • the embarked system is connected on the one hand to the sensors and actuators with which the captain or operator interacts when it governs it on board, and on the other to the telecommunications system, the remote bridge is installed in a place located on the ground, in another ship or any other place, and offers the captain or operator all the information it needs, as well as means to teleact on instruments, cameras, microphones, and governing bodies
  • the exchange of information between the remote bridge and the ship is carried out at via telepresence link (3)
  • this equipment information system and control of the ship It will comprise the following functionalities a) program monitoring that periodically collects and archives in a database the relevant information from the navigation instruments, the sensors, the radio, the control messages sent to the different elements of the vessel and the information received transmitted by the telecommunications system, b) government allows from a computer to operate the rudder and set the engine speed and type, c) control of sensors and instruments allows from a computer to select the sensor from which you want to obtain information or the instrument with which you want to tr lower (for example the radar), establish its operating conditions (for example change the distance scale and set North-Up), and obtain data from it (eg white spotting) This control is currently available through standard buses, such as the NMEA Bus and others
  • the on-board system of the telepresence system for remote governance of a ship has to be connected to the ship's information and control system, through standard interfaces or through ad hoc solutions, so that it can act on it in a similar way as does the captain or operator when on board
  • the main advantage is to make it possible for the captain or person responsible for the command of a ship to perform its functions of government efficiently without being on board it.
  • the same remote bridge can be used to govern different ships on successive occasions. This is because the user interface structure can reside in the server program located in the on-board computer system, which is own of each ship, and not in the client program located in the remote bridge, where the captain or operator is
  • Tele-presence or tele-operation systems are known in certain applications such as a) remote control of space vehicles, and b) remote control of unmanned underwater vehicles c) remote transmission of data from a ship, including the return of messages to it with navigation instructions
  • the invention includes a telepresence system and method for remote governance of a ship
  • the telepresence system for remote governance of a ship is essentially characterized by providing the means for a captain (or any other person trained to govern the ship), located outside the ship (usually on land or in another ship), to a) have all the on-board information that you need at any time, such as instruments, sensors, and visual and acoustic environment inside and outside the ship, and b) efficiently tele-act on the ship's governance systems as well as on the on-board instruments to obtain at all times the data you need
  • the captain or operator can govern the vessel from afar, following the usual procedures, and with an efficiency and security similar to those that would be obtained if find on board
  • the telepresence system for remote government of a ship consists of the following three components a) a system on board (1) on board the ship, which interacts with the information and control system of the ship, and which is connected to the telepresence link, b) a remote bridge (2), with which the captain or operator interacts, and which is located at a distance from the previous one
  • the embarked system (1) consists of the following means a) means to process the information that arrives to it and to coordinate, supervise and monitor the operation of its different components, the monitoring feature is given by the fact that the embarked system registers in a database all the data related to the predetermined variables, at predetermined time intervals or when the pre-established conditions are met b) means of connection with the ship's information and control system, means to obtain data through said system , graphics and images from the navigation instruments located on board the ship (such as GPS, radar, gyroscopic, fluxgate, magnetic needle, rubber, probe, anemometer, wind vane, rain gauge, slide), and on-board sensors (such as speedometers, accelerometers, fuel and water indicators, indicators and sensors associated with the propulsion equipment, status indicators of lights, markings and visual and acoustic signals, status indicators of the electrical panel, heating, cooling, pumps, helmet voltages, flood sensors, propulsion, rudder, etc.), means to modify the operating conditions of the instruments, the sensors and on-board equipment (such
  • the remote bridge (2) includes a) means to process the information at its disposal and to coordinate, monitor and monitor the operation of its different components, b) means to make the information accessible in an efficient way to the captain or operator of the ship, as well as means for it to introduce its requests and orders of action on the governing bodies of the ship and on the operating conditions of the on-board instrumentation, c) means to encode the orders of the captain or operator, as well as their requests for information, and to transmit them to the on-board system, through the telepresence link telecommunications system, means to receive data, messages and signals, and present that information to the captain or operator, d) means to dynamically manage the telepresence link telecommunication equipment and lines, and connection means to the telepresence link to exchange data, messages, with the on-board system signals and all kinds of information, e) means to supervise the correct functioning of all the elements of the remote bridge and to establish decisions autonomously when the circumstances foreseen for this occur, as well as to make them effective, f) means to aid navigation, to
  • the telepresence link (3) consists of means for transmitting messages and signals from the on-board system to the remote bridge and vice versa, means consisting of emission / reception equipment located on board the ship and connected to the on-board system, reception / transmission equipment and lines connected to the remote bridge, and the corresponding communication channels, which are used simultaneously or successively for the exchange of information between the on-board system (1) and the remote bridge (2)
  • the captain or any other operator trained for the government of the ship
  • the captain is located far from the ship, and remotely obtains all the internal information and outside it, handle the instruments on board and transmits its decisions to the personnel in charge of executing them or to the control centers for their automated execution
  • the telepresence method for remote government of a ship is characterized in that at each moment the captain or operator can decide on a specific action among all the possible ones associated with its function.
  • the stages of some of the most representative ones are analyzed below (the others will follow an analogous procedure) a) obtain data from an instrument or sensor b) interact with an instrument c) establish spoken dialogue through the ship's radio d) establish listening or dialogue in a certain area of the ship e) look at through a camera f) act on an organ of the ship g) consult the historical archive
  • Obtaining data from an instrument is carried out by the following procedure a) using the available means (mouse, keyboard and / or voice), the captain or operator enters his decision at the command post, as well as the parameters that indicate additional conditions , among which the required reliability threshold is always counted, b) the remote bridge encodes its option and generates the corresponding message, finds it, opens the necessary telecommunications channels and transmits it to the on-board system according to the protocol required by the level of associated reliability, c) the on-board system receives the encrypted message, decrypts it, decodes it, and validates it according to the level of reliability required, if it does not exceed the validation phase, it is acted upon in accordance with what is established in this case for the required reliability level, d) if it exceeds the threshold associated with that level, then it executes the actions associated with the message, using the parameters received on m embarked module establishes communication with the instrument, e) transmits the operating parameters, requests the necessary data, receives them, encodes them in
  • the procedure is as follows a) the interaction protocol with each instrument is established, b) on the remote bridge, and using the available means (mouse, keyboard and / or voice), the captain or operator introduces his decision to interactively use an instrument, as well as the parameters that indicate additional conditions, the remote bridge encodes its option and generates the corresponding message, encepts it, opens the necessary telecommunications channels and it transmits it to the on-board system in accordance with the protocol required by the level of reliability associated with it, then a double loop of activities is initiated on the remote bridge
  • Loop n ° 1 the captain or operator successively introduces the actions that he wishes to perform on the embarked instrument, using the available means (mouse, keyboard and / or voice), the remote bridge encodes them, opens the necessary telecommunication channels and transmits the decision coded to the embarked system,
  • Loop n ° 2 the data received is presented to the captain or operator, as they arrive, c) the on-board system receives each message encrusted, decrypts, decodes it, and validates it according to the level of reliability required, if it does not exceed The validation phase is acted upon in accordance with what is established in this case for the level of reliability required, if it exceeds it, then executes the actions associated with the received message, using the accompanying parameters, opens the lines of communications that you need to achieve an efficient and safe transmission, and establishes the following loop the on-board system establishes communication with the instrument with which the captain or operator wishes to interact, transmits the operating parameters, collects the information provided by the instrument, the encodes, and transmits it to the remote bridge, prior encoding and encryption
  • the captain or operator selects the radio option, enters his option to broadcast a message by radio, the option is encrypted and transmitted to the on-board system, b) the on-board system acts on the radio to put it into transmission mode, and sends the indicator code to the remote bridge, c) on the remote bridge the code becomes an indication to the captain or operator, when the captain or operator receives the indication to speak begins to do so, the microphone transforms the voice into an electrical signal, the digitahzaissus sound card digitahza and encodes in a sequence of numerical files, and the numerical files with the encoded voice are transmitted to the on-board system, d) in this one they are decoded and converted to an analog signal, the analog signal enters the radio and it goes out to the antenna, e) when in the remote bridge the capit The operator finishes speaking, introduces the indication to enter the listening mode, an indication that is encoded in a digital message, and transmitted to the on-board system,
  • the captain or operator selects this option indicating the number of the channel he wishes to use, the option and the channel number is encoded and transmitted to the on-board system, b) the on-board system decodes the message and generates the corresponding control signal to act on the radio and tune in the specified channel, and then send the tuned channel number to the remote bridge
  • the captain or operator selects this option indicating the area you wish to access, data that is encoded and transmitted to the on-board system, b) the on-board system decodes the message, generates the corresponding control signal for the audio channel selector to tune the channel corresponding to the area of the specified vessel, and sends the tuned area number to the remote bridge, once the captain or operator has been informed of the establishment of the connection, two continuous processes are started and in parallel listening and broadcasting
  • Listening process a) the sound signal generated by the microphone installed in the ship's area selected enters the digitahzadora card of the on-board system, is digitahzada and encoded in numerical files and these are transmitted to the remote bridge, b) in the remote bridge the files are decoded and converted into analog signals that are sent to the speakers or headphones, according to one means of interaction or another has been selected, so that the captain or operator thus establishes a continuous listening
  • the operator selects the camera he wishes to access and the camera number is encoded and transmitted to the on-board system, b) it activates the selected camera, tunes the signal of said camera and sends to the remote bridge the number of the camera that has been activated, this data is presented to the operator, along with the options to move the camera and its adjustable elements, such as iris, zoom, or focus, and From that moment on, the following continuous process begins 1) The video signal generated by the selected camera enters the video digger card of the on-board system, is and coded in numerical files and these are transmitted to the remote bridge,
  • the action on an organ of the ship requires a) to select this option and indicate the parameters necessary for its execution, data that is encoded, encrypted and transmitted to the on-board system, b) in the on-board system the message is decrypted, decoded and validated, if does not pass the validation a message is issued informing the operator of the remote bridge of this circumstance, if the validation is passed, then the corresponding control signal is generated to act on the governing body, the data of the new position of the organ is taken of government and a message is sent to the remote bridge for the operator informing him of the result of the order execution
  • FIG. 1 is a panoramic view of the three components of the system, as well as their location
  • Figure 2 the different modules that make up the on-board system are represented schematically (1)
  • Figure 3 the modules that integrate the remote bridge are also schematically represented ( 2)
  • Figure 4 the telepresence link modules are schematically represented (3)
  • the ship's government requires the captain or operator a) to manage and obtain information on the following GPS, radar, and probe instruments, b) have knowledge of data generated by the following anemometer sensors, engine temperature, fuel level , state of the lights, c) view the exterior of the ship in any direction, d) see the engine room, e) listen to the ambient sound outside, f) listen to the engine noise, g) use the radio VHF to carry out mandatory and ordinary listening periods, and to establish radio communications with other ships or coastal stations, h) give public address instructions, i) start / stop the engine, turn on / off the signaling lights and launch by Embroider the lifeboat in case of locating a shipwrecked person, and j) vary the rudder angle and engine speed
  • the vessel already has an information and control system (29), installed after the construction of the vessel, equipped with an NMEA bus connection and data input / output cards and analogue signals, through the which is possible to obtain sensor and instrument data, handle the on-board instruments indicated in sections a) and b) of the previous paragraph, and act on the governing bodies and other ship control devices indicated in sections i) and j) from the previous paragraph
  • the telepresence system for remote governance of a ship consists of a system on board (1) and a remote bridge (2), communicated with each other by a telepresence link (3)
  • the embarked system (1) in the preferred embodiment consists in particular of a) on-board computer platform (6), b) on-board communications module (7), c) on-board interaction module (8), d) audiovisual module (9), e) on-board security module (10), f) system on board safeguard (11)
  • the on-board computer platform (6) comprises a) cabinet made of resistant material and adapted to the marine environment, which contains inside an industrial rack on which all modules are fixed, b) uninterruptible power supply, stabilized and adapted to the generators available on the ship, c) a computer with the following devices CPU, memory, magnetic disk, floppy disk drives, monitor, keyboard, mouse, local network cards that allow connecting other computers dedicated to communications, data acquisition, or other specific functions, d) basic software installed on the computer operating system (Unix, DOS, Windows, NT, or other), local network software, with standard protocols (such as Ethernet, TCPTP,), databases for multimedia information (such as Oracle, Informix,)
  • the on-board communications module (7) fulfills the function of facilitating connections for the different telecommunications equipment as well as managing them. It includes the communications manager and the connection unit a) communications manager (12), consisting of a program (unique) that, depending on the bandwidth and reliability requirements, manages the activation and deactivation of the different telecommunications channels, monitors their operability, routes the data and signals through the most appropriate communication channels, and is responsible for restoring telecommunications when they are interrupted by external factors, b) connection unit (13), which in turn includes 1) devices and programs to connect a radio frequency channel (14) programs and port + modem + connection for a radio transmitter / receiver HF, UHF, VHF, BLU, etc., the modem is prepared to overcome interference, noise, effect Doppler, duplicity of reception and other problems posed by radio transmission,
  • Satellite transmitter (16) such as an Inmarsat station (up to 64 Kbps)
  • Inmarsat station up to 64 Kbps
  • the function of the on-board interaction module (8) is to facilitate the interaction between the remote bridge and the ship.
  • This module maintains internal or local network communication with the other components of the on-board system.
  • the connection module (18) comprises the devices and programs to connect to the ship's information and control system (29), in addition this module can include local network connections, standard bus such as NMEA, and other standard and ad hoc connections, b) the interaction server (19 ), whose function is to exchange information with
  • the interaction server is specifically composed of an information server, such As a World Wide Web server, using http and CGI technology, through its telecommunication lines it sends its pages with the information and with the control buttons of the different instruments and sensors on board to the remote bridge command post, maintaining in them the aspect which offers in each case the screen and the control panel of each instrument, or with another aspect that is preferred, using form technology or other functionally equivalent, collects the parameters and instructions of the captain or operator, finally, using the technology CGI collects the ship's information and transmits the orders received to it, c) monitoring and archiving module, which, being optional, collects and archives the relevant information about navigation, ship conditions and information exchanges with the remote bridge
  • the audiovisual module (9) is composed of the following components a) Video modules
  • video card (21) connected to a stereo camera (26) duly protected and inertially stabilized, located in a high and clear part of the bridge, or via the corresponding control channel provided by this module, which can be captured images of both the deck of the ship and the sea,
  • the function of the on-board safety module (10) is to maintain the governance of the vessel in case of interruption of telecommunications and other pre-programmed conditions. It consists of the following components, each with functionalities indicated below a) stand-alone computer, networked with the central computer, with its own uninterruptible power supply, where the programs described in the following points are hosted and operated b) software control program periodically verifies that all programs housed in the on-board system are in operation c) availability control program of the safeguard system verifies that the safeguard system is ready to replace the on-board computer platform of the on-board system in the event of a failure, d) Telecommunications control program periodically sends messages to the remote bridge, which it must answer automatically, in order to verify that both this and the telecommunications channels are fully operational, e) functional control program of the captain or operator at time intervals programmed (usually of random duration a) send messages to the captain or operator, to which the latter must answer appropriately, so it will be verified that he is in effective command of the ship, if
  • the safeguard system (11) incorporates the computerized safeguard system, which consists of a functional replica of the other hardware and software elements of the on-board system, and which, in case of breakdown of any of these elements, comes into operation assuming all its functions
  • the means comprising the remote bridge (2) of the preferred embodiment consist of a) remote computing platform (31), b) remote communication module (33), c) remote interaction module (47), d) post of command (41), e) remote security module (50), and f) remote safeguard system (32)
  • the remote computing platform (31) includes a) equipment installation rack, b) uninterruptible power supply, stabilized and adapted to the system requirements, c) central computer with the following devices CPU, memory, magnetic disk, disk drives Removable disks, monitor, keyboard, mouse, cards and local network software that allow you to connect other computers dedicated to communications, data acquisition, or other specific functions, d) programs, including the following operating system programs (Unix,
  • DOS DOS, Windows, NT, Aple, or other
  • local network software with standard protocols (such as Ethernet, TCP / IP,), databases for multimedia information (such as Oracle, Informix,)
  • the remote communications module (33) is intended to facilitate connections with telecommunications equipment that are part of the telepresence link (3), as well as manage telecommunications lines.
  • the function of the remote interaction module (47) is to carry out the exchange of information with the on-board system, simultaneously monitoring the entire process and leaving a record of it in a database. It consists of the following modules a)
  • the exchange program ( 48) consists of a program that is able to dialogue with the interaction server (19) of the on-board system, and which in this embodiment is constituted by a Netscape browser program, or similar, by means of which it communicates with the system's Web server shipped, also includes added programs or plug-ms
  • the features of the exchange program are 1) receives and processes the information from the on-board system, transfers it to the command post, so that it can be presented to the captain or operator of the ship through one or several screens, speakers and any other means (such as a bridge simulator on board), 5 2) receives from the command post the data with the orders of the captain or operator to act on the instruments of the ship and on the governing bodies of the ship and on the operating conditions of the on-board instrumentation, and finally
  • the monitoring module (49) consists of a program that it records in a database all the relevant information that is produced during navigation c)
  • a navigation aid module is also incorporated, to facilitate the calculation, decision making and reception of information from other sources other than the ship, such as weather information
  • the command post (41) constitutes the interface with the captain or operator, who on this module can select what information of the ship he wishes, can obtain it, whether current or historical, can act on the means of government of the ship, can work with your instrumentation, you can establish listening and radio communications through the ship's radio, you can see and hear what
  • 25 occurs inside and outside the ship, and also has permanent aids for an effective and reliable performance of its work. It consists of a) stereo and mono visualization devices and programs (42), integrated at least by a screen on which the captain The operator may observe data, graphics and images from all or part of the navigation instruments, as well as the
  • the remote security module (50) has the mission of ensuring the correct operation of the remote bridge and other systems at its disposal. It consists of the following components, each with the following functionalities a) independent computer, with its own uninterruptible power supply, connected in local network to the computing platform of the remote bridge, b) software control program, by means of which it is periodically verified that all the programs housed in the remote bridge are functioning correctly, c) control program of availability of the safeguard system, to verify that the safeguard system itself is ready to replace the computer platform of the on-board system in case it suffers a fault, d) telecommunications control program, which periodically sends messages to the on-board system, to which it must answer automatically, in order to verify that both this and the telepresence link are fully operational, e) functional control program of the captain or operator, which, at random time intervals, sends messages to the captain or operator, to which the latter must respond appropriately , to verify that he is in command of the ship, and that in case you do not answer them in the pre-established conditions, and
  • the remote safeguard system (32) contains the safeguard computer system, consisting of a functional replica of the other systems of the remote bridge, which in case of failure of any of them comes into operation (automatically or manually) assuming all its functions
  • the telepresence link (3) in the preferred embodiment provides the telecommunications channels for the exchange of information between the on-board system (1) and the remote bridge (2)
  • the telecommunications system adopted in this embodiment provides for three levels of needs as far as to information flow, and therefore, in terms of cost / hour low flow (4800, 9600 bps) with VHF and GSM channels, medium flow (64 Kbps) with Inmarsat satellite line, and high flow (2 Mbps and higher) with Hispasat or similar satellite line All three will be installed, and at any time the communications manager (34) or the staff of the remote bridge can select the one that should be used In each channel, three parts must be differentiated from the equipment used to connect the telepresence link to the remote bridge, the one intended to connect the telepresence link to the ship's embarked system, and finally the communication channel (aActivdo or not) between both ends
  • the link e of Telepresence (3) incorporates in the embodiment described herein the following means
  • a cellular telephone terminal (51) such as GSM, with an external antenna, connects with the cable (75) to the connection point (15) offered for this purpose by the on-board system communications module 3)
  • the radio transmitter equipment (55) such that HF, is connected by means of the cable (76) to the connection point (14) offered for this purpose by the on-board system communications module
  • a transmitting station (59) (such as 64 Kbps Inmarsat), connects with the cable (77) to the connection point (16) offered for this purpose by the on-board system communications module 3) Lines An ISDN line is required for the land section (or empty, when greater bandwidth is desired), and an Inmarsat line for the space segment
  • a call will be made to the Inmarsat number of the equipment located on board the ship
  • it will be the communications module of the on-board system that calls the ISDN or Inmarsat number of the remote bridge
  • the telecommunications channel will be established in each case with the following remote bridge sections - ISDN land section - Inmarsat coast station - Inmarsat satellite - Inmarsat receiver on board ship - on-board system
  • the communication will contain the following remote bridge sections - Inmarsat transmitter station - Inmarsat satellite

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Telephonic Communication Services (AREA)

Abstract

L'invention concerne un système embarqué (1) à bord d'un navire et un pont à distance (2) éloigné de celui-ci, tout deux étant connectés via une liaison de téléprésence (3). Le système embarqué (1) comprend des modules de plate-forme informatique, de communication, d'interaction, audiovisuels, de sécurité et de sauvegarde. Le pont à distance (2) comprend les modules de plate-forme informatique, communication, interaction, sécurité, sauvegarde et poste de commande depuis lequel un utilisateur (5) gouverne le navire. La liaison de téléprésence (3) fournit les canaux de télécommunication par radio, satellite, téléphonie ou par d'autres voies. Le procédé est caractérisé en ce que l'utilisateur manipule, depuis le pont à distance et via les liaisons de télécommunication, les instruments du navire, sélectionne et obtient toutes les informations relatives à celui-ci y compris les informations audiovisuelles, et commande tous ses organes de gouverne. L'ensemble est spécialement conçu pour des opérations de sauvetage jugées trop dangereuses, pour l'élimination de mines flottantes, pour le transport maritime avec équipage réduit, pour la gouverne de multiples navires, pour la formation et l'entraînement.
PCT/ES1999/000168 1998-06-07 1999-06-07 Systeme et procede de telepresence pour gouverner un navire a distance WO1999064941A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU40416/99A AU4041699A (en) 1998-06-07 1999-06-07 Telepresence system and method for the remote steering of a boat

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESP9801236 1998-06-07
ES9801236 1998-06-07

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WO1999064941A1 true WO1999064941A1 (fr) 1999-12-16

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FR2817631A1 (fr) * 2000-12-05 2002-06-07 Philippe Waquet Systeme de telecommande d'un vehicule sans pilote
WO2019063571A1 (fr) * 2017-09-28 2019-04-04 A.P. Møller Mærsk A/S Procédé et système d'exploitation de navire
WO2019063570A1 (fr) * 2017-09-28 2019-04-04 A.P. Møller Mærsk A/S Procédé et système destinés à faire fonctionner un navire
US10295999B2 (en) 2013-03-15 2019-05-21 Savant Systems, Llc Remote motion control using a wireless mobile device

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FR2817631A1 (fr) * 2000-12-05 2002-06-07 Philippe Waquet Systeme de telecommande d'un vehicule sans pilote
US10295999B2 (en) 2013-03-15 2019-05-21 Savant Systems, Llc Remote motion control using a wireless mobile device
WO2019063571A1 (fr) * 2017-09-28 2019-04-04 A.P. Møller Mærsk A/S Procédé et système d'exploitation de navire
WO2019063570A1 (fr) * 2017-09-28 2019-04-04 A.P. Møller Mærsk A/S Procédé et système destinés à faire fonctionner un navire
EP3688536B1 (fr) 2017-09-28 2022-04-27 A.P. Møller - Mærsk A/S Procédé et système d'exploitation de navire
US11789443B2 (en) 2017-09-28 2023-10-17 A.P. Møller Mærsk A/S Method and system for operating a ship
US11815886B2 (en) 2017-09-28 2023-11-14 A.P. Møller Mærsk A/S Method and system for operating a ship

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