WO2019007703A1 - Utilisation d'un système de commande sans fil pour diriger une embarcation sans pilote vers une première position au cours d'une situation de lancement ou de récupération - Google Patents

Utilisation d'un système de commande sans fil pour diriger une embarcation sans pilote vers une première position au cours d'une situation de lancement ou de récupération Download PDF

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Publication number
WO2019007703A1
WO2019007703A1 PCT/EP2018/066697 EP2018066697W WO2019007703A1 WO 2019007703 A1 WO2019007703 A1 WO 2019007703A1 EP 2018066697 W EP2018066697 W EP 2018066697W WO 2019007703 A1 WO2019007703 A1 WO 2019007703A1
Authority
WO
WIPO (PCT)
Prior art keywords
watercraft
unmanned
manned
unmanned watercraft
control system
Prior art date
Application number
PCT/EP2018/066697
Other languages
English (en)
Inventor
Morten Soede NIELSEN
Lars Valdemar Mogensen
Original Assignee
Atlas Maridan Aps
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 Atlas Maridan Aps filed Critical Atlas Maridan Aps
Priority to EP18732787.9A priority Critical patent/EP3649518A1/fr
Publication of WO2019007703A1 publication Critical patent/WO2019007703A1/fr

Links

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
    • G05D1/0027—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 involving a plurality of vehicles, e.g. fleet or convoy travelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled

Definitions

  • the invention relates to use of a wireless control system comprising a master control unit positioned on a manned watercraft, and a slave unit positioned on an unmanned watercraft, and arranged to control speed and direction of the unmanned watercraft.
  • US 20110144836 Al discloses an assembly comprising a host ship 31' with a guidance controller 37' and an unmanned underwater vehicle (UUV) 32' with an UUV controller 38' .
  • the UUV controller 38' controls a propulsion device 33' and a steering device 34' of the UUV 32' .
  • the guidance controller 37' can transmit signals to the UUV controller 38' via an acoustic communications link.
  • Sonar range measurements between the host ship 31' and the UUV 32' yield a respective UUV position state relative to the host ship 31' to define a series of successive UUV position state estimates.
  • the guidance controller 37' updates UUV position state estimates based upon sonar range measurements and propagates the updates.
  • the propulsion device 33' and the steering device 34' are controlled to guide the UUV 32' relative to the host ship 31' .
  • WO 2016038453 Al discloses an assembly comprising a support vessel 620, a guiding autonomous unmanned vehicle (AUV) 600 and further AUVs 604.
  • An acoustic positioning system 204 can communicate with the further AUVs 604.
  • the guiding AUV 600 can transmit its heading and depth to the support vessel 620 via an acoustic modem.
  • the support vessel 620 calculates the positions of all AUVs.
  • the master control unit transmits data to the slave unit for controlling a first position of the unmanned watercraft in relation to the manned watercraft during launch situations and/or during recovery situations, where launch situations are launching of the unmanned watercraft from the manned watercraft and subsequently guiding the unmanned watercraft to the desired first position relative the manned watercraft, or guiding the unmanned watercraft out of a harbour, and recovery situations are guiding the unmanned watercraft to a second position close to the manned watercraft, from which second position the unmanned watercraft is boarded onto the manned watercraft, or guiding the unmanned watercraft to a mooring in a harbour.
  • the master control unit on the manned watercraft transmits data to the slave unit of the unmanned watercraft.
  • a first part of the data can be an instruction to activate and start the engine.
  • the master control unit can also tell the slave unit to first go in a direction perpendicular to the moving direction of the manned watercraft and when the set distance of the unmanned watercraft perpendicular to the moving direction of the manned watercraft has been achieved the unmanned watercraft is directed to find the set position relative the manned watercraft in the moving direction of the manned watercraft.
  • the advantage is that the unmanned watercraft avoids the position just astern the manned watercraft, where the unmanned watercraft can be hit by the propellers of the manned watercraft and where the buoyancy of the water can be lower due to air bubbles from the propeller, especially when the manned watercraft is going at a high speed.
  • the unmanned watercraft can be of the type that has means or is arranged for monitoring the movements of the manned watercraft and follows it, when the unmanned watercraft has reached the first position.
  • the transmittal of data from the master control unit to the slave unit for controlling a first position of the unmanned watercraft in relation to the manned watercraft can mean that the first position is sent to the slave unit, and the slave unit then by itself keeps the position of the unmanned watercraft relative the manned watercraft by having means or being arranged for monitoring the distance and direction to the manned watercraft.
  • the control unit can have means or be arranged for continuously transmitting data to the slave unit telling the slave unit in which direction the unmanned watercraft should move to keep the first position.
  • the unmanned watercraft can be an underwater vessel.
  • An underwater vessel has the advantage that the underwater vessel can be positioned at a certain, constant depth without being tossed up and down by the waves. This can be particular useful if the unmanned watercraft is used for detailed investigation of the seabed.
  • the manned watercraft can be a boat.
  • the manned watercraft being a boat has the advantage that the manned watercraft can carry the unmanned watercraft ( s ) to and launch the unmanned watercraft ( s ) the position, where the unmanned watercraft ( s ) is/are to be used.
  • This is advantageous, since a manned watercraft is often longer than the unmanned watercraft ( s ) and therefore has a higher hull speed.
  • the transportation costs will be lower to reach the position, where the unmanned watercraft ( s ) is/are to be used, within a certain time.
  • the desired first position of the unmanned watercraft relative the manned watercraft can be at a fixed distance from the manned watercraft and/or at a fixed angle relative the movement direction of and with the vertex of the angle in the manned watercraft .
  • the captain of the manned watercraft will know where the unmanned watercraft is located and obstacles can easily be avoided e.g. within an harbour area.
  • the use during the launch situation when guiding the unmanned watercraft out of the harbour can comprise the steps of the manned watercraft moves into a third position relative the unmanned watercraft, where there is a straight line between the manned watercraft and the unmanned watercraft that is free of any obstacles, and the master control unit controls the slave unit to move the unmanned watercraft to a fourth position with a specified distance between the manned watercraft and the unmanned watercraft.
  • the fourth position can be astern the manned watercraft.
  • the unmanned watercraft With the unmanned watercraft astern the manned watercraft, the unmanned watercraft cannot hit any obstacle.
  • the unmanned watercraft cannot be crushed between the manned watercraft and an obstacle like a jetty, a pier or a mole as could happen if the unmanned watercraft sailed alongside the manned watercraft .
  • the specified distance can be at most the length of the manned watercraft, preferably at most the length of the unmanned watercraft.
  • the steps of claim 5 can be repeated for a second unmanned watercraft having all the features of the unmanned watercraft including a second slave unit, where the manned watercraft moves into a fifth position relative the second unmanned watercraft, where there is a straight line between the manned watercraft and the second unmanned watercraft that is free of any obstacles, and the master control unit controls the second slave unit to move the second unmanned watercraft to a sixth position with a second specified distance between the manned watercraft and the unmanned watercraft.
  • the sixth position can be astern the unmanned watercraft.
  • the second unmanned watercraft cannot hit any obstacle.
  • the second unmanned watercraft cannot be crushed between the manned watercraft and an obstacle like a jetty, a pier or a mole as could happen if the second unmanned watercraft sailed alongside the manned watercraft.
  • the second specified distance can be at most the length of the manned watercraft, preferably at most the length of three unmanned watercrafts, even more preferably at most the length of the second unmanned watercraft, so that the unmanned watercraft and the second unmanned watercraft sail more or less alongside each other.
  • the risk is reduced that the second unmanned watercraft will collide with another watercraft, e.g. out of or into a harbour.
  • the second unmanned watercraft sails alongside the manned watercraft it will be advantageous to keep the second unmanned watercraft close to the manned watercraft to avoid collision.
  • the second unmanned watercraft is astern the manned watercraft a short distance between the watercrafts is also advantageous, since an intersecting boat could collide with the second unmanned watercraft if the second unmanned watercraft was to far behind the manned watercraft.
  • FIG. 1 shows an unmanned watercraft being launched from a harbour position, where there is a straight line between the manned watercraft and the unmanned watercraft that is free of any obstacles
  • Fig. 2 shows a manned watercraft and two unmanned watercraft, where there is not a straight line between the manned watercraft and the unmanned watercrafts that is free of any obstacles ,
  • Fig. 3 shows a manned watercraft guiding two unmanned watercrafts out of a harbour or to a mooring in a harbour
  • Fig. 4 shows the launch or recovery of an unmanned watercraft from or to a manned watercraft. All four drawings Figs. 1 - 4 are schematic.
  • Fig. 1 shows a manned watercraft 1 with a master control unit 2.
  • a first unmanned watercraft 3 is on the port side of the manned watercraft 1.
  • the master control unit 2 is transmitting data 4 to a slave unit 5 of a second unmanned watercraft 6 kept in place at a mooring place 7 by fenders 8, which in Fig. 1 is in a protruding position, where the fenders keep the second unmanned watercraft 6 in place laterally but allows the second unmanned watercraft 6 free movement vertically.
  • Actuators 9, like hydraulic actuators, can withdraw the fenders 8 away from the second unmanned watercraft 6, so that the second unmanned watercraft 6 can leave the mooring place 7.
  • the second unmanned watercraft 6 can as conventionally used be protected by hanging or floating fenders and be kept in position by ropes tied to e.g. bollards. If that is the case, a person will have to untie the ropes when the second unmanned watercraft 6 is about to leave.
  • the data sent by the manned watercraft 1 to the second unmanned watercraft 6 in Fig. 1 instructs the second unmanned watercraft 6 to start the engine, and the actuators 9 to retract the fenders 8 away from the unmanned watercraft 4 so that the second unmanned watercraft 6 can leave the mooring place 7.
  • the second unmanned watercraft 6 can be instructed by the manned watercraft 1 how to get to the manned watercraft 1 or the second unmanned watercraft 6 can be arranged for finding out the way to the manned watercraft 1 by itself, e.g. by moving in the direction of the transmitted data 4.
  • the first unmanned watercraft 3 can be moved over to the side of the manned watercraft 1 facing away from the mooring place 7 of the second unmanned watercraft 6 as shown in Fig. 1.
  • the second unmanned watercraft 6 has reached its position relative the manned watercraft 1, a sixth position, to keep during the guidance out of the harbour, the first unmanned watercraft 3 is directed to its position relative the manned watercraft 1, a first position, to keep during the guidance out of the harbour.
  • the first 3 and second 6 unmanned watercrafts are positioned in the first mooring place 7 and a second mooring place 10, respectively, where an entrance channel 11 between a mole 11a and a pier lib that is so narrow that the manned watercraft 1 is not able to enter.
  • the data 4 is transmitted by the master control unit 2 of the manned watercraft 1 to the first slave unit 12 of the first unmanned watercraft 3 to start an engine of the first unmanned watercraft 3 and move to the first position close to the manned watercraft 1.
  • the first slave unit 12 can be arranged for recognising where there are obstacles on the way to the first position and be able to reach the first position on its own.
  • a camera and software are needed to be able to analyse the data from the camera to see other boats, large stones, breakwater structures, and jetties.
  • a person onboard the manned watercraft 1 can control the first unmanned watercraft 3 using a remote controller. In that case, the person has to be able to see the first unmanned watercraft 3 from the first mooring place 7 to the first position.
  • the first slave unit 12 can have a positioning system like Global Positioning System (GPS) or similar to be able to determine the position of the first unmanned watercraft 3 and can have the area around the first mooring place 7 or possibly the whole harbour stored, with the positions of all obstacles like large stones, breakwater structures, and jetties.
  • GPS Global Positioning System
  • the master control unit 2 can have the area around the first mooring place 7 of the first unmanned watercraft 3 or possibly the whole harbour stored, with the positions of all obstacles like large stones, breakwater structures, and jetties.
  • the first slave unit 12 can have a positioning system like GPS or similar to be able to determine the position of the first unmanned watercraft 3. By transmitting a list of one, two or more coordinates in a certain order to the first slave unit 12, where there are no obstacles in a straight line between two consecutive coordinates in the list, the master control unit 2 can instruct the first slave unit 12 how to direct the first unmanned watercraft 3 to the first position.
  • the first unmanned watercraft 3 could go in all possible directions, as long as there are no obstacles, resulting in a long period of time between the transmitted data to leave the first mooring place 7 until the first unmanned watercraft 3 has reached the first position.
  • Fig. 3 shows the manned watercraft 1 followed by the first 3 and second 6 unmanned watercrafts.
  • the first 3 and second 6 unmanned watercrafts just astern the manned watercraft 1, the first 3 and second 6 unmanned watercrafts are easily guided out of the harbour, since as long as the manned watercraft 1 does not hit any obstacle the first 3 and second 6 unmanned watercrafts will not do that either.
  • Fig. 4 shows the launch of the unmanned watercraft 3 from the deck 13 of the manned watercraft 1 using two cranes 14.
  • the two cranes have releasable holding means like e.g. hooks 15 holding loops 16 attached to the unmanned watercraft 3.
  • the hooks 15 can be pivoted to let go of the loops and the unmanned watercraft 3, or to hook at the loops. That the unmanned watercraft 3 cab be carried onboard the manned watercraft 1 all the way to the launch position saves time, since a longer boat in general can go faster than a shorter one.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne l'utilisation d'un système de commande sans fil comprenant une unité de commande maître positionnée sur une embarcation pilotée, et une unité esclave positionnée sur une embarcation sans pilote, et conçu pour commander la vitesse et la direction de l'embarcation sans pilote, l'unité de commande maître transmettant des données à l'unité esclave pour commander une première position de l'embarcation sans pilote par rapport à l'embarcation pilotée au cours de situations de lancement et/ou de situations de récupération, les situations de lancement correspondant au lancement de l'embarcation sans pilote depuis l'embarcation pilotée et ensuite au guidage de l'embarcation sans pilote vers la première position souhaitée par rapport à l'embarcation pilotée, ou au guidage de l'embarcation sans pilote hors d'un port, et les situations de récupération correspondant au guidage de l'embarcation sans pilote vers une seconde position proche de l'embarcation pilotée, à partir de laquelle seconde position l'embarcation sans pilote est embarquée sur l'embarcation pilotée, ou au guidage de l'embarcation sans pilote vers un amarrage dans un port.
PCT/EP2018/066697 2017-07-05 2018-06-22 Utilisation d'un système de commande sans fil pour diriger une embarcation sans pilote vers une première position au cours d'une situation de lancement ou de récupération WO2019007703A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18732787.9A EP3649518A1 (fr) 2017-07-05 2018-06-22 Utilisation d'un système de commande sans fil pour diriger une embarcation sans pilote vers une première position au cours d'une situation de lancement ou de récupération

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA201770549 2017-07-05
DKPA201770549 2017-07-05

Publications (1)

Publication Number Publication Date
WO2019007703A1 true WO2019007703A1 (fr) 2019-01-10

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PCT/EP2018/066697 WO2019007703A1 (fr) 2017-07-05 2018-06-22 Utilisation d'un système de commande sans fil pour diriger une embarcation sans pilote vers une première position au cours d'une situation de lancement ou de récupération

Country Status (2)

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EP (1) EP3649518A1 (fr)
WO (1) WO2019007703A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024127251A1 (fr) * 2022-12-14 2024-06-20 Devlp Système de transport à hydroptères
FR3143518A1 (fr) * 2022-12-14 2024-06-21 Alain Thébault Système de transport à hydroptères

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
GWIN R C III ET AL: "A distributed launch and recovery system for an AUV and a manned submersible", PROCEEDINGS OF THE SYMPOSIUM ON AUTONOMOUS UNDERWATER VEHICLE TECHNOLOGY. WASHINGTON, JUNE 2 - 3, 19; [PROCEEDINGS OF THE SYMPOSIUM ON AUTONOMOUS UNDERWATER VEHICLE TECHNOLOGY], NEW YORK, IEEE, US, vol. -, 2 June 1992 (1992-06-02), pages 267 - 278, XP010065033, ISBN: 978-0-7803-0704-9, DOI: 10.1109/AUV.1992.225221 *
M. BIBULI ET AL: "Vehicle-following guidance for unmanned marine vehicles", PROCEEDINGS OF THE 8TH IFAC INTERNATIONAL CONFERENCE ON MANOEUVRING AND CONTROL OF MARINE CRAFT SEPTEMBER 16-18, 2009, GUARUJÁ (SP), BRAZIL, vol. 42, 18 September 2009 (2009-09-18), pages 103 - 108, XP055508091, ISBN: 978-3-902661-51-7, DOI: https://doi.org/10.3182/20090916-3-BR-3001.0028 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024127251A1 (fr) * 2022-12-14 2024-06-20 Devlp Système de transport à hydroptères
FR3143518A1 (fr) * 2022-12-14 2024-06-21 Alain Thébault Système de transport à hydroptères

Also Published As

Publication number Publication date
EP3649518A1 (fr) 2020-05-13

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