WO2018042140A1

WO2018042140A1 - System for communication and transfer between an object on the surface and a submerged object, assembly comprising an object on the surface, a submerged object and method for setting up communication and transfer between the object on the surface and the submerged object

Info

Publication number: WO2018042140A1
Application number: PCT/FR2017/052334
Authority: WO
Inventors: Gautier DREYFUS; Maxime CERRAMON
Original assignee: Forssea Robotics
Priority date: 2016-09-05
Filing date: 2017-09-04
Publication date: 2018-03-08
Also published as: FR3055607A1; FR3055607B1

Abstract

The system for communication and transfer (10) between an object on the surface (12) and a submerged object (14) in a marine or river environment (15) comprises: - an umbilical (16) including a first end (23) that is capable of being linked to the object on the surface (12) and a second end (26); - a joining member (18) comprising an electrical transformer (46) and linked to the second end (26) of the umbilical (16); - a slender connecting member (20) comprising a first end (32) that is linked to the joining member (18) and a second end (34); and - a connector (22) that is linked to the second end (34) of the slender connecting member (20), comprising means for connecting (62) to the submerged object (14), propulsion means and an automated positioning module for positioning with respect to the submerged object (14). The umbilical (16) the joining member (18), the slender connecting member (20) and the connector (22) form an electrical communication channel between the object on the surface (12) and the submerged object (14).

Description

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

The invention relates to subsea operations and in particular communication systems in marine or fluvial environment. More specifically, the invention relates to communication and data and energy transfer systems between an emergent object and a submerged object.

Submarine operations, for example for scientific exploration purposes or to perform 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 operated submarine vehicle, also known as ROV (Remotely operated vehicle), is connected, by means of an umbilical, to an emergent object, for example a ship floating on the surface of the water or a oil rig. The umbilical can supply electrical energy to the remote control vehicle and remotely control it.

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

The current economic context of the underwater industries is conducive to a reduction of costs, especially concerning underwater robotics. For example, in the offshore oil and gas industry, the recent drop in oil prices forces players to reduce exploration, construction and site operation costs if they want to maintain sufficient level of profitability. In addition, the exploitation of underwater mining resources by submarine vehicles has not yet proved its economic viability despite the high concentrations of certain rare metals. Finally, the oceans contain resources that are still little exploited, such as reserves of biomolecules, or even marine energies. Only 5% of the world's oceans have so far been explored, and lower costs for underwater exploration campaigns are essential to the multiplication of scientific campaigns. Sovereign states are also seeking to implement cheaper and more efficient technologies for exploring and exploiting marine resources. Underwater, ROVs are most often deployed from a cage including a winding system (known by the acronym TMS for tether management System). These cages have been democratized since the 1970s because they allow to ball the umbilical and go deeper to the vertical of 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 come out and move in a ball with 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-sized vessel at the surface, which increases the cost of the operation.

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

In addition, AUVs are not wired to the surface and a relatively small vessel is capable of launching them and recovering them at the end of their mission. However, the regular surface lifts of the AUVs, necessary for reloading or replacing the batteries, and for the recovery of mission data, are a factor in the loss of time, and therefore in the increase in the cost of using a battery. AUV.

A specialized team (diver, technician) must also be on site to receive the AUV before releasing it. The presence of a ship is therefore always necessary on site, even though these AUV robots are able to evolve autonomously in the marine environment.

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

AUVs are limited in power and can not carry out work or maintenance tasks that require handling heavy equipment. Finally, AUVs communicate with the surface only with great difficulty. For example, it is almost impossible to exchange video data between the ship and the AUV at the bottom.

Recent technical developments make it possible to consider that a robot (AUV or ROV) resides, that is to say that stays for a long time on the bottom, can assist a site over long periods without going back to the surface. This is enabled by the presence of a body that houses 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 wellhead, a mechanical, electrical, hydraulic or electronic unit, or simply a system placed on the ocean floor, may require regular connection or not with the surface, to exchange electricity and / or data.

Thus, in general, the communication and the transfer of data and energy between an emerging object and an immersed object is a major stake for the future. Document US Pat. No. 6,390,012 in particular discloses a device that makes it possible to communicate, from an emergent object such as a ship, with an underwater autonomous submerged robot being explored. The device comprises a remote-controlled underwater vehicle connected to the emerged object and comprising electrical connection means to the autonomous underwater robot. The remote-controlled underwater vehicle is connected, by means of a flexible cable to a rigid intermediate frame, which carries a unwinder of the flexible cable. The intermediate frame is connected to the emerged object by means of an umbilical. Thus, the umbilical, the flexible cable and the unmanned 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 applies only to a particular type of autonomous underwater robots and a limited range of depths.

Moreover, the device does not describe the method of connection in open water that is not feasible from the given information. Indeed, the device comprises a wet-mate-type connector that requires a push of several tens of pounds between the remote-controlled underwater vehicle and the autonomous underwater robot, which would push the latter. Moreover, the device described has a significant weight, which prevents its deployment from a light vessel. There is no mention of the method used to locate the submerged submarine robot.

An object of the invention is to provide a communication system between any type of emerged object and submerged object to a depth of more than a hundred meters, whose versatility is improved and in order to democratize it.

To do this, the invention provides a communication and transfer system between an emergent object and an object immersed in a marine or fluvial environment, characterized in that it comprises:

an umbilical having a first end adapted to be connected to the emerged object and a second end,

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

an elongated connecting member comprising a first end connected to the connecting member and a second end, and

a connector connected to the second end of the elongate connecting member, comprising means for connection to the immersed object, propulsion means and an automated positioning module with respect to the immersed object,

the umbilical, the connecting member, the elongate connection member and the connector form an electrical communication channel between the emerged object and the immersed object. Thus, the junction member is immersed at an intermediate depth between the surface and that of the immersed object. It is therefore possible to transport a high-voltage electrical current, for example between 1000 and 5000 volts, or even at very high voltage, for example between 5000 and 20000 volts, using the umbilical between the immersed object and the junction member. The intensity of the current transported can therefore be less important, with equal power output, which limits losses in line. The transformer makes it possible to convert this high voltage into a lower voltage, in accordance with that which the submerged object can withstand. This voltage for the immersed object can be between 30 and 400 volts. It is therefore possible to electrically connect the emerged object and the immersed object even when the latter is located at a significant depth, for example 3000 meters. It is thus possible in particular to provide the immersed object with a large power, for example 200 kW.

In addition, the electrical transformer makes it possible to adjust as closely as possible the power transmitted to the connector and to the immersed object. Indeed, the connection and transfer system according to the invention makes it possible to make electrical conductors which supply the connector and the immersed object completely independent. The reliability of the system is therefore considerably increased.

In addition, the function of the connecting member is to ballast, because of the weight of the transformer, the umbilical so that it is aligned with the ship and this, whatever the sea currents. The connector can thus have a minimum weight.

The horizontal distance between the emergent object and the junction member must not exceed the length of the flexible elongate member. Thus, the weight of the junction member is adjusted using a hydrodynamic calculation table which depends in particular on the depth to which the junction member must descend. It is thus possible to introduce weights into the junction member. An advantage of the transformer is to limit the amount of weight to use.

In addition, since the connector comprises an automated positioning module and propulsion means, it approaches autonomously the immersed object to connect to it. The connector thus improves the efficiency of the system by reducing the risk of pilot error from the surface, especially in case of bad weather and weather conditions.

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

In addition, the base can have a recognizable shape so that a computer can perform a digital processing of the captured image by a possible camera carried by the connector, which thus allows to precisely position the connector relative to the base according to the 3 dimensions of space. For example, the base may comprise a particular shaped member, or a reflective color patch, or several submarine light-emitting diodes distributed so that a recognizable shape is distinguishable.

At least two of these options can also be combined, in particular to allow optical guidance in murky, highly reflective waters or in low visibility.

In addition, the base can have a hollow funnel shape to guide the final approach of the connector and allow a perfect alignment between male and female plugs. The connector may also comprise a fin device unequally distributed on the connector and complementary to a network of slots on the base.

In addition, the connector may contain a hook-on recovery device capable of holding the connector in its socket after the connector enters the funnel. This can for example take the form of mechanical dogs that engage in contact with the connector in its base. It can also take the appearance of a piston associated with an engine controlled by the onboard computer and whose horizontal movement allows, thanks to the shape of the piston, to bring the connector of the base and maintain the connection. Preferably, the means evoked allow a single hooked position between the connector and the base.

According to one variant, the elongate connecting member is more flexible than the umbilical.

The displacement of the connector is thus facilitated 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 under water. Conversely, the longiligne connecting member is intended to follow the movements of the connector. The umbilical must therefore be more rigid and have greater inertia so that the marine currents cause the connecting member and the connector to a too great distance from the immersed object.

According to one variant, the elongate connecting member has a neutral buoyancy. Thus, it effectively damps the movements of the connecting member and the connector does not therefore undergo the constraints related to the movement of the junction member, a movement that may for example be due to constraints from the emerging object surface.

According to one embodiment, the umbilical, the connecting member, the elongate connection member and the connector also form an optical communication channel between the emerged object and the immersed 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 rate, for example several high definition video signals.

According to a variant, the umbilical and the elongate connection member contain at least one optical fiber. Optical fiber is a simple and effective way to exchange information in the form of an optical signal.

According to one embodiment, the connector comprises a receiver adapted to receive a movement control of the emerged object.

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

According to a variant, the connecting member comprises a direct current converter AC and vice versa.

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

According to one variant, the elongate connecting member encloses an electric cable able to carry an alternating current and / or a direct current.

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

Thus, a current with properties different from those suitable for the immersed object can be transported.

Alternatively, the elongate connecting member comprises a protective sheath comprising poly (p-phenylene terephthalamide), also known as Kevlar.

Thus, while being flexible, the elongate connecting member is solid. Note in particular that the Kevlar is incompressible to a significant depth, namely up to about 3000 meters and also allows to provide the connecting elongate member a neutral buoyancy, or slightly positive, to this limiting depth .

According to one variant, floats distributed along the elongate connection member make it possible to give it neutral buoyancy. These floats may 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 connecting member is therefore positioned stably under water.

According to one variant, the joining member comprises electrically insulating oil.

Indeed, the junction member is most often in the form of a housing comprising oil to electrically isolate the inside and outside of the junction member. The connecting member comprises a compensator for balancing the external pressure of the marine environment with the internal pressure of the body, maintaining a slight overpressure from the inside to the outside. Thus, in case of non-sealing, the insulating oil will leave the housing and prevent the infiltration of salt water conductive properties. In order to keep a sufficient oil level, 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 connecting member is therefore increased.

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

This removable connection can also be used to transmit the vertical tension of the umbilical to the connecting member so as not to put the internal cables to the junction member in tension.

According to a variant, the connector is connected to the second end of the elongate connecting member removably.

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

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

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

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

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

A vector-type thruster is effective for underwater travel. It may for example be an electronic or hydraulic thruster.

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

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

The tracking of the submerged object is therefore simpler.

According to one variant, the connector comprises automated means capable of disconnecting the connector from the immersed object in the event of detection of a bad connection between the connector and the immersed object.

Thus, if the integrity of the connector is threatened, for example because the connection between the connector and the immersed object is not sealed, the latter automatically disconnects. Similarly, if the voltage in the elongated connecting member exceeds a value that would threaten the integrity of the connector, the elongate connecting body or the umbilical. The connector performs for example a movement contrary to that described in the catch to eject the connector of the funnel of the base. More generally, the connector disconnects from the submerged object.

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

According to one variant, the assembly comprises an emergent object, the first end of the umbilical is connected to the emerged object.

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

According to one variant, the immersed object is a vehicle of the remote-controlled underwater vehicle type also known as Remotely operated vehicle (ROV) or autonomous underwater robot also under the name Autonomous underwater vehicle (AUV), or an autonomous underwater station or underwater garage laid on the bottom.

It should be noted that the communication system can be used both with a remote-controlled underwater vehicle and an autonomous underwater robot.

Also provided according to the invention a method of placing in communication between an emergent object and an object immersed in a marine or fluvial environment by means of a communication and transfer system as previously described, comprising the following steps:

the first end of the umbilical is connected to the emerging object,

- Connects the connector to the immersed object.

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

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

According to one embodiment, the connector comprises a receiver adapted to receive a movement control of the connector and the immersed object comprises an emitter capable of transmitting a command to move the connector, the displacement of the connector is controlled from the immersed object.

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

It will be noted that, preferably, the connecting member does not include a reel for the elongate connecting member. Indeed, the elongate connecting member generally has a relatively short length, which makes it possible to dispense with the retractor and thus lighten the communication system and transfer. We will now describe, by way of non-limiting example, an embodiment of the invention with the aid of the following figures:

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

FIG. 2 diagrammatically represents a connecting member and a connector of the telecommunication 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 junction 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 emergent object and an immersed object.

Here, the emerging object is in the form of a ship 12. More generally, the emerging object can be any type of floating object, but also a flying object such as a helicopter, preferably hovering. It will be noted that the communication system 10 can be deployed from an emerging object of low mass. 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 may be an autonomous underwater robot known by the acronym AUV (Autonomous underwater vehiclé) or a remote controlled submarine vehicle, also known by the acronym ROV (Remotely operated vehicle).

The submerged object may be an underwater power generation unit, of the tidal turbine type or wind turbine pillar, or an underwater unit for performing measurements of a scientific nature. More generally, the immersed object can be any type of vehicle or object capable of being immersed.

The underwater station 14 has a fixed position. It is here of the underwater garage type intended to house one or more autonomous submarine robots or remote controlled submarine vehicles. Alternatively, the underwater station 14 may also for example be a head of an oil or gas well underwater.

The underwater station 14 is here immersed in a marine environment, namely an ocean 15, having a surface 17 on which the vessel 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 water that is deep enough. In addition, the underwater station 14 comprises a storage battery which provides it with the energy necessary for its operation.

The communication system 10 comprises an umbilicus 16, a connecting member 18, an elongate connection member 20 and a connector 22. The umbilical 16 has an elongated shape, has a longitudinal axis and comprises a longitudinal first end 23 which is connected to an electric generator and to an optical or light signal generator of the ship 12. For this purpose, the ship 12 comprises a reel 24, actuated by a motor, for example supplied with electrical energy by a storage battery type power pack, which allows to unroll the umbilical 16 from the ship 12 deep in the ocean 15. The reel 24 is also controlled by control means such as a console electrically connected to the engine.

The umbilicus 16 comprises a second longitudinal end 26, opposite the first 23 and to which is connected a longitudinal first end 28 of the connecting member 18. At a second longitudinal end 30 opposite the first end 28, the organ junction 16 is connected to a first longitudinal end 32 of the elongate connecting member 20. The elongate connecting 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 connecting member 18, between the second longitudinal end 30 of the connecting member 18 and the first longitudinal end 32 of the elongate connecting member 20 and between the second longitudinal end 34 of the elongate connecting 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 umbilicus 16 further comprises a steel frame 19 to resist the tension it undergoes. The umbilical 16 thus has a negative buoyancy. In addition, it has a capacity to hold sufficient traction to support the connecting member 18, connected to the second longitudinal end 26 of the umbilical 16. As seen in Figure 3, in one embodiment, the umbilical 16 comprises three electric cables 36 dedicated to the circulation of an alternating current. It furthermore optionally comprises two electric cables 38 dedicated to the circulation of a direct current. In addition, the umbilical 16 includes, optionally, three optical fibers 40 able to allow the flow of light information. The electrical cables 36, 38 and the optical fibers 40 travel the entire length of the umbilicus 16 from the first longitudinal end 23 to the second longitudinal end 26 and form an electro-optical inlet for the connecting member 18 as indicated below. below. The electric current flowing in the umbilicus 16 preferably has a voltage of between 1500 and 5000 volts. In addition, there is experimentally a voltage drop between the first 23 and second 26 longitudinal ends of the umbilical 16 due to the losses related to the transport of the current under water and over a significant distance, for example of the order of 3000 meters. The joining member 18, in particular illustrated in FIGS. 2 and 4, is in the form of a member enclosing a junction box 44 protected by a cage 45 comprising a plurality of bars making it possible to protect the junction box 44 and to resist traction. The bars are preferably made of metal. The joining member 18 is preferably of cylindrical shape. It comprises an electro-optical inlet 42 which is in 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 of the ocean. As can be seen on the right-hand part 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 a low voltage current and vice versa, an electrical output 48 and an optical output 50. The electrical transformer 46 is connected to two electrical cables 38 dedicated to the flow of a direct current. Conversely, the electrical 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 the present embodiment, the electrical transformer 46 is also or only connected to the electric cables 36 dedicated to the circulation of an alternating current. The electrical transformer 46 is then preferably of the power transformer type, that is to say that it does not change the frequency of the alternating current that it transforms. But the electrical 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 convert an alternating current into direct current and vice versa. Thus, the electrical cables 36, 38 and the optical fibers 40 are sealed. In addition, the connecting member 18 comprises a ballast so that the umbilical 16 is taut and straight as illustrated in FIG. The ballast may comprise a plurality of objects. Thus, the ballast weight can be adjusted to the desired length of the umbilical 16 submerged. The ballast can also be removed. In addition, the cage 45 also performs the function of a ballast.

The elongate connecting member 20 has greater flexibility than that of the umbilical 16 so as not to hinder the movements of the connector 22. In a manner similar to the umbilicus 16, it encloses a plurality of electrical cables dedicated to the circulation. 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 comprise 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 elongated connection member 20 adequate strength and flexibility. The electric current flowing in the elongate connecting member 20 preferably has a voltage of between 40 and 400 volts. The connector 22 comprises an electro-optical inlet 53, connected to the elongate connecting 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 electrical 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 balances the external pressure of the marine environment with the internal pressure of the connector 22, maintaining a slight overpressure from the inside to the outside. The compensator 56 comprises for this purpose a membrane and a spring associated with an insulating oil tank.

The connector 22 also comprises two propellers, for example, vector-type which are here in the form of propellers and which allow the connector 22 to move underwater. The two thrusters therefore form propulsion means of the connector 22. The two thrusters require a large power to ensure the displacement of the connector 22. Thus, a portion of the electrical energy supplied by the vessel 12 is intended to supply the two thrusters. The displacements of the connector 22 are limited in a ball which is centered on the second longitudinal end 30 of the connecting member 18 and for radius the length of the elongate connecting member 20. The connector 22 is able to move in three directions. non-coplanar directions of space and is able to rotate in three angles around its center of gravity.

Thus, during the vertical descent of the connector 22 under water, it verifies its position so as to avoid twisting the elongate connecting member 20.

Furthermore, according to an advantageous variant of this embodiment, the connector comprises four horizontal thrusters and three vertical thrusters. These thrusters are sized so as 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 type (HD), a depth gauge, an altimeter, an instantaneous speed sensor, one or 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 with respect to the underwater station 14. In addition, the connector 22 and the underwater station 14 can be equipped with means acoustic positioning system comprising an USBL (Ultra Short Base Line) positioning module. The positioning module USBL can for example be installed on the connector 22, while a transponder is installed on the underwater station 14. The positioning module USBL is then configured to emit a signal to which the transponder. By measuring certain acoustic properties of the signals, such as, for example, the time elapsed between the transmission of the signal and the reception of the response signal, the phase differences of the received response signal measured at different points of the USBL module, the USBL module of the connector 22 determines the position of the underwater 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 closer to it. In addition, the connector is able to connect electro-optically to the underwater station 14 via the electro-optical connection member 62. Thus, the underwater station 14 comprises a connection member electro-optical which is complementary to the electro-optical connection member 62 carried by the connector 22. The connection member carried by the subsea station 14 is here a base 21 complementary to the connector 22. The base comprises in particular one or more recognizable optical forms. In addition, the connector 22 comprises automated means capable of disconnecting the connector 22 from the underwater station 14 in the event of detection of a bad connection between the connector 22 and the subsea station 14. Thus, the connector 22 is able to disconnect from the underwater 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 may damage it. For this purpose, the elongate connecting member 20 comprises a voltage sensor. If the measured voltage exceeds a predetermined threshold, for example because the ship 12 moves away from the underwater station 14, the connector 22 disconnects from the underwater station 14.

Thus, when the connector is connected to the underwater station 14, the umbilicus 16, the connecting member 18, the elongate connecting member 20 and the connector 22 form an electrical and optical communication channel between the ship 12 and the underwater station 14. It is therefore possible to exchange information between the ship 12 and the underwater station 14. For example, it is possible, from the ship 12, to collect information collected by the station under -marine 14. It is also possible to provide the submarine station 14 information on an area that ROVs or AUVS, hosted by the underwater station 14, must explore. In addition, it is possible to recharge the storage battery of the underwater station 14. The latter can therefore remain immersed longer or recharge in turn the storage battery of ROVs or AUVS hosted. It is also possible to update a software embedded in the underwater station 14 or to reprogram a mission, for example 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 thus effectively, while minimizing line losses. running in the umbilical 16 over a long distance. Then, it is possible to convert the current so that its properties are adapted to be exploited by the underwater station 14. In particular, the underwater station 14 needs a low-voltage current to recharge its storage battery . Thus, the umbilical 16 is able to carry 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 may for example have a length of 3000 meters and the elongate connecting member 20 a length of one 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.

The method of using the communication and transfer system 10 will now be described.

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

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

Then, the reel 24 is actuated so as to unwind the umbilicus 16 in the ocean 15. Thanks to the weight of the junction member 18, the umbilical 16 unfolds rectilinearly in the water as shown in FIG. figure 1 . Since the connector 22 and its elongate connecting member 20 are in neutral buoyancy, or slightly positive, the connector 22 can actuate its vertical thrusters to prevent winding of the elongate member 20 connection around the umbilical 16 Then, when the connector 22 is sufficiently close to the underwater station 14 so that it can detect it and reach it, the connector 22 is actuated. With its automated positioning module 64 and its propulsion means, the connector 22 is positioned near the subsea station 14 and connects to the latter. Connector 22 has thus been connected to underwater station 14. It is therefore possible, for example, to supply the storage battery of underwater station 14 with electrical energy coming for example from the generator of ship 12. Thus, the station under - Marine 14, and the ROVS and AUVs hosted, can remain under water for a long time, which reduces the cost of underwater exploration. Of course, we can bring to the invention many changes without departing from the scope thereof.

In particular, the lengths of the umbilicus 16 and the elongate connecting member 20 may be varied.

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

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

The connector 22 may 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. For example, the connector 22 and the underwater station 14 can exchange data and energy by electromagnetic induction or by acoustic means.

The communication and transfer system 10 may also include the following features:

- The elongate connecting member 20 has a length of between 20 meters and 30 meters. Thus, it is not necessary to have a reel to manage a deployment of the elongate connecting member, which reduces the size of the communication and transfer system 10;

- The junction member 18 comprises a permanent isolation controller which makes it possible to detect an insulation fault in the junction member 18.

Claims

claims

1. A communication and transfer system (10) between an emergent object (12) and a submerged object (14) in a marine (15) or fluvial environment, characterized in that it comprises:

an umbilical (16) having a first end (23) adapted to be connected to the emerging 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 umbilicus (16),

an elongated connecting member (20) including 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) of the elongate connecting member (20), comprising connection means (62) to the submerged object (14), propulsion means and an automated module positioning 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).

2. System (10) according to the preceding claim, wherein the elongate connecting member (20) is more flexible than the umbilical (16).

3. System (10) according to any one of the preceding claims, wherein the umbilical (16), the connecting member (18), the elongate connecting 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 connecting 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 adapted to receive a movement control of the emerging object (12).

6. System (10) according to any one of the preceding claims, wherein the connecting member (18) comprises a DC converter AC and vice versa.

7. System (10) according to any one of the preceding claims, wherein the umbilical (16) encloses an electric cable (36, 38) adapted to carry an alternating current and / or a direct current.

8. System (10) according to any one of the preceding claims, wherein the elongate connecting member (20) contains an electrical cable adapted to carry an alternating current and / or direct current.

9. System (10) according to any one of the preceding claims, wherein the umbilical (16) is able to carry a current whose voltage is greater than a voltage of a current that the elongate connecting member (20). ) is fit to carry.

10. System (10) according to any one of the preceding claims, wherein the elongate connecting member (20) comprises a protective sheath comprising poly (p-phenyleneterephthalamide), preferably the elongate connecting member present neutral buoyancy.

1 1. System (10) according to any of the preceding claims, wherein the joining member (18) comprises at least one ballast.

The system (10) of any one of the preceding claims, wherein the joining member (18) comprises electrically insulating oil.

The system (10) of any preceding claim, wherein the junction member (18) is connected to the second end (26) of the umbilicus (16) removably.

The system (10) of any preceding claim, wherein the connector (22) is connected to the second end (34) of the elongate connecting member (20) removably.

15. System (10) according to any one of the preceding claims, wherein the first end (32) of the elongate connecting member (20) is connected to the connecting member (18) removably.

The system (10) of any of the preceding claims, wherein the automated module (64) for positioning the connector (22) comprises at least one of the following navigation tools: a camera, preferably a high definition type (HD) camera, a depth gauge, an instantaneous speed sensor, a gyroscope, an inertial unit and a compass.

17. System (10) according to any one of the preceding claims, wherein the propulsion means of the connector (22) comprise at least two thrusters, preferably of the vector type.

The system (10) of any preceding claim, wherein the automated positioning module (64) of the connector (22) comprises acoustic positioning means.

19. System (10) according to the preceding claim, wherein the automated positioning module (64) of the connector (22) comprises an acoustic communication modem Short Base Line type (SBL) or Ultra Short Base Line (USBL).

20. System (10) according to any one of the preceding claims, wherein the connector (22) comprises automated means able to disconnect the connector (22) of the immersed object (14) in case of detection of a bad connection between the connector (22) and the submerged object (14).

21. An assembly comprising a submerged object (14) in a marine (15) or fluvial 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. Assembly according to the preceding claim, comprising an emergent object (12), the first end (23) of the umbilical (16) is connected to the emerging object (12).

23. An assembly according to the preceding claim, wherein the emerging object (12) is a ship or a mining or oil extraction platform or an aircraft preferably, the aircraft is a helicopter.

24. An assembly according to any one of claims 21 to 23, wherein the submerged object (14) is a vehicle of the remote-controlled underwater vehicle type also known as Remotely operated vehicle (ROV) or a sub-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. A method of communicating between an emerging object (12) and a submerged object (14) in a marine (15) or fluvial environment by means of a communication and transfer system (10) according to any one of the Claims 1 to 20, comprising the steps of:

the first end (23) of the umbilicus (16) is connected to the emerging object (12),

the connector (22) is connected to the immersed object (14).

26. Method according to the preceding claim, wherein the emergent object (12) comprises an electric generator and the immersed object (14) comprises at least one battery, the battery is supplied with electrical energy from the generator by means of the battery system. communication (10).

27. A method according to any one of claims 24 and 25, wherein the communication system (10) is according to claim 5, the emerging object (12) comprises a transmitter adapted to emit a control of displacement of the connector (22). ), the movement of the connector (22) is controlled from the emergent object (12).