Underwater working system and method for operating an underwater working system

Abstract

The invention relates to an underwater work system 1 with at least one autonomous unmanned underwater vehicle 2 and one unmanned relay vehicle 4 floating at the surface of the water 3, which comprises a radio antenna 5 for external communication 26 and a drive 16. The underwater vehicle 2 is connected to the relay vehicle 4 via an internal communication device. The invention furthermore relates to a method for operating an underwater work system. In order to create an underwater work system with an autonomous underwater vehicle and an unmanned relay vehicle floating at the surface of the water as well as a method for operating such an underwater work system, which provides an increased efficiency of the autonomous underwater vehicle 2 with short mission times, it is provided according to the invention that the relay vehicle 4 is controllable by means of a control unit 16 via the at least one autonomous underwater vehicle 2 in due consideration of navigation information 17.

Claims

1. An underwater work system comprising at least one unmanned underwater vehicle and one unmanned relay vehicle floating at the surface of the water, which comprises a drive and a control unit, the unmanned underwater vehicle being physically connected to the relay vehicle via a coupling connection, the coupling connection including or being part of an internal communication device, and the relay vehicle, the underwater vehicle and/or the coupling connection being configured in such a manner that navigation information is captured by the underwater vehicle and transmitted to the relay vehicle through the coupling connection and the relay vehicle is guidable by a control unit of the relay vehicle via the underwater vehicle using said navigation information.

2. The underwater work system according to claim 1, wherein the internal communication device is designed in such a manner that it is real-time capable.

3. The underwater work system according to claim 1 wherein said control unit controls the relay vehicle the system further comprising a control unit for the unmanned underwater vehicle, the control units being configured in such a manner that navigation information for the relay vehicle and control information for the unmanned underwater vehicle is exchangeable via the internal communication device.

4. The underwater work system according to claim 1 wherein the coupling connection occurs by way of an optical fiber cable, which physically connects the relay vehicle to the unmanned underwater vehicle.

5. The underwater work system according to claim 1, wherein the relay vehicle and/or the unmanned underwater vehicle comprise means for determining the distance between the unmanned underwater vehicle and the relay vehicle.

6. The underwater work system according to claim 1, wherein the unmanned underwater vehicle and/or the relay vehicle comprise an acoustic emitter.

7. The underwater work system according to claim 1, wherein the relay vehicle and/or the unmanned underwater vehicle comprise a sonar device, the relay vehicle and/or the underwater vehicle being more specifically configured in such a manner that when the sonar device detects obstacles, evasive maneuvers of the unmanned underwater vehicle and/or the relay vehicle are controllable.

8. The underwater work system according to claim 1, wherein the relay vehicle is designed to be submersible.

9. The underwater work system according to claim 1, wherein the relay vehicle includes a data processing device, into which information from the underwater vehicle can be input.

10. The underwater work system according to claim 1, wherein the relay vehicle includes a radio for external communication and an encoder, by means of which information to be sent or received by the radio antenna is encodable or decodable.

11. A method of operating an underwater work system comprising at least one unmanned underwater vehicle communicating with an unmanned relay vehicle floating and propelled at the surface of the water, the method comprising capturing by the underwater vehicle navigation information including the position of the underwater vehicle, transmitting said navigation information from the underwater vehicle to the relay vehicle through a coupling connection and guiding the relay vehicle by means of a control unit based on said navigation information from the at least one unmanned underwater vehicle so that said relay vehicle is steered along the same course as the underwater vehicle.

12. The method of claim 11 wherein the guiding of the relay vehicle is based on the current distance between the underwater vehicle and the relay vehicle.

13. The method of claim 12 comprising determining the current distance by means of an acoustic emitter on one or both of the underwater vehicle and the relay vehicle.

14. The method of claim 11 comprising determining a course for the relay vehicle and controlling the drive of the relay vehicle accordingly by means of the control unit so that the vehicles of the underwater work system are always in a desired position relative to each other.

15. The method of claim 11 comprising supplying to the control unit navigation information captured by navigation sensors of the underwater vehicle.

16. The method of claim 11 comprising identifying an obstacle in the course of the relay vehicle and initiating by means of the control unit an evasive maneuver by laterally passing the obstacle and/or diving and passing under the obstacle.

17. The method of claim 16 in which the evasive maneuver is performed by one of the relay vehicle and the underwater vehicle and the control of the evasive maneuver is via the other of the relay vehicle and the underwater vehicle.

18. The method of claim 11 wherein the system comprises multiple underwater vehicles assigned to the relay vehicle and the method comprises calculating a course for the relay vehicle based on navigation information from all of the multiple underwater vehicles.

19. An underwater work system comprising at least one unmanned underwater vehicle, an unmanned relay vehicle comprising a control unit floating and propelled at the surface of the water, the underwater vehicle communicating internally with and being physically connected to the unmanned relay vehicle such that navigation information including the position of the underwater vehicle is transmitted to the relay vehicle, and a control unit configured to guide the relay vehicle based on navigation information from the at least one unmanned underwater vehicle to steer the relay vehicle along the same course as the underwater vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further features of the invention can be gathered from the dependent claims as well as from the exemplary embodiments, which are described in more detail in the following based on the drawings. In the drawings:

(2) FIG. 1 shows an underwater work system with an autonomous underwater vehicle and an unmanned relay vehicle,

(3) FIG. 2 shows a diagram for communication between the relay vehicle and the unmanned underwater vehicle according to FIG. 1.

DETAILED DESCRIPTION

(4) FIG. 1 shows an underwater work system 1 with an autonomous unmanned underwater vehicle 2 and an unmanned relay vehicle 4 floating at the surface of the water 3. The relay vehicle 4 comprises a radio antenna 5, by way of which the relay vehicle 4 communicates with a support platform. In the shown embodiment, the support platform is a seagoing vessel 6, which also carries a radio antenna 7 for communication with the underwater work system 1. Instead of a manned seagoing vessel 6, a control station on land or another manned support platform can also be provided, from which human operators can communicate with the underwater work system 1 via a radio link even at a great distance from the relay vehicle 4. The autonomous unmanned underwater vehicle 2 is connected to the relay vehicle 4 by way of an internal communication device, the term internal referring to communication within the underwater work system 1. The communication device comprises respectively one device for sending and receiving data on the relay vehicle 4 as well as on the underwater vehicle 2, as well as an optical fiber cable 8 in the exemplary embodiment. The optical fiber cable 8 connects the relay vehicle 4 with the underwater vehicle 2, respectively connects the devices for sending and receiving information disposed in the respective vehicles.

(5) The relay vehicle 4 transmits a communication between the seagoing vessel and the submerged underwater vehicle 2 during the mission. In doing so, mission information 9 is transmitted during the mission in real time from the autonomously operating underwater vehicle 2 via the optical fiber cable 8 and the radio link between the relay vehicle 4 and the mother ship 6. The underwater vehicle 2 is equipped with a camera 10 and other sensors for surveying its environment, in the exemplary embodiment a sonar device 11, the continuously gathered data being transmitted as part of the mission information 9 via the optical fiber cable 8 to the relay vehicle 4. The underwater vehicle 2 further comprises navigation sensors 12, which are supplied to the control unit 13 of the underwater vehicle 2 and on which the autonomous navigation of the underwater vehicle 2 is based.

(6) The autonomous unmanned underwater vehicle 2 follows a predetermined mission program and can independently operate underwater under guidance by its control unit 13. Via the radio antenna 5 of the relay vehicle 4, an operator of the underwater work system 1 can however supply control information 14, which is transferred by the relay vehicle 4 via the optical fiber cable 8, to the underwater vehicle 2. The underwater work system 1 can thus operate autonomously while being however constantly monitorable via the external communication with the seagoing vessel 6. Thus, an operator of the underwater work system can take over control of the unmanned underwater vehicle at any time. This is particularly advantageous if it turns out during monitoring of the underwater work system 1 that the underwater vehicle 2 has made an error based on the predefined autonomous mission program, for example has erroneously detected or identified and underwater object.

(7) However, the control information 14 for the underwater vehicle 2 does not only include control commands given by the human operator but also other information, which is processed on board the relay vehicle 4 for use on the underwater vehicle, more specifically information for navigation. For example, a continuous transmission of position information, which is available on board the relay vehicle 4 and is very precisely determinable by GPS via the radio antenna 5, is advantageous.

(8) The relay vehicle 4 is configured as a surface vessel in order to maintain constant radio contact with the support platform and comprises a drive 15. The relay vehicle 4 further comprises a control unit 16, which guides the relay vehicle 4 and controls the drive 15 according to the planned course and speed. When guiding the relay vehicle 4, the control unit 16 considers navigation information about the autonomous underwater vehicle 2, which is transmitted via the optical fiber cable 8 in the same direction as mission information 9 to the relay vehicle 4. In addition to the navigation information detected by the navigation sensors 12 on board the underwater vehicle 2, additional information about the underwater vehicle 2 can be detected by sensors on board the relay vehicle 4. In an advantageous embodiment, locating means are provided on board the relay vehicle 4 to this end.

(9) In order to calculate a distance between the relay vehicle 4 and the underwater vehicle 2, an acoustic emitter 18, a so-called pinger, is disposed on one of the two vehicles. In the shown embodiment, the acoustic emitter 18 is disposed on the unmanned underwater vehicle 2, so that the distance determination and the computer operations required for this can occur on board the relay vehicle 4. Thus it is not necessary to provide additional power, which is fundamentally limited on board the underwater vehicle, for distance determination on board the underwater vehicle 2. The relay vehicle 4 further comprises a sonar device 19 in the area of its bow, by means of which obstacles 20 drifting in the water can be detected in time. If an obstacle is detected in the course of the relay vehicle 4 during processing of the signals of the sonar device 19, the control unit 16 initiates a corresponding evasive maneuver by laterally passing the obstacle or causes the relay vehicle 4 to dive and pass under the obstacle 20. To this end, in the shown exemplary embodiment, the relay vehicle 4 is designed for short-term diving maneuvers. In another exemplary embodiment, the relay vehicle 4 is an underwater vehicle, which is used as relay vehicle 4 at the surface of the water 3. By passing under the obstacle 20, the destruction of the damageable optical fiber cable 8 by broad obstacles drifting under water such as nets and the like can be prevented. After passing under the obstacle 20, the relay vehicle 4 immediately surfaces and resumes radio contact with the seagoing vessel 6.

(10) is an underwater vehicle, which is used as relay vehicle 4 at the surface of the water 3. By passing under the obstacle 20, the destruction of the damageable optical fiber cable 8 by broad obstacles drifting under water such as nets and the like can be prevented. After passing under the obstacle 20, the relay vehicle 4 immediately surfaces and resumes radio contact with the seagoing vessel 6.

(11) The control unit 16 determines the course of the relay vehicle 4 after processing the navigation information of the unmanned underwater vehicle in such a manner that the distance between both vehicles does not exceed predefined limit values. The control unit 16 thus determines the course of the relay vehicle 4 in such a manner that the relay vehicle 4 follows the underwater vehicle 2. If, during determination of the distance, too great a distance is determined between the relay vehicle 4 and the underwater vehicle 2, the control unit calculates a new course along which the relay vehicle 4 is sent after the underwater vehicle 2. The underwater vehicle 2 can thus operate autonomously, the relay vehicle 4 following it at the surface of the water 3 and maintaining constant external communication of the underwater work system 1 with the seagoing vessel 6.

(12) The internal communication between the control unit of the relay vehicle 4 and the control unit 13 of the autonomous unmanned underwater vehicle 2 including the external communication via the relay vehicle 4 is explained in more detail in the following based on FIG. 2. Mission information 9, which is recorded during the mission by the camera 10 and other sensors in order to detect the environment, is transmitted by the control unit 13 of the underwater vehicle 2 via the internal communication device 21, which includes the optical fiber cable 8 according to FIG. 1. Together with the mission information 9 transmitted in real-time, the control unit 13 transmits mission information 17 about the autonomous underwater vehicle 2 to the control unit 16 of the relay vehicle 4. The navigation information 17 can include raw data of the navigation sensors 12 of the underwater vehicle 2 as well as already processed navigation information based on the raw data of the navigation sensors 12, which is available to the control unit 13 of the underwater vehicle 2 for its own autonomous navigation during the mission. Depending on the configuration of the underwater work system 1, the navigation information 17 transmitted to the relay vehicle can also be a combination of raw data and of navigation information already determined in the underwater vehicle based on the raw data. The control unit 13 of the underwater vehicle 2 is particularly advantageously connected to the control unit 16 of the relay vehicle 4 in such a manner that the navigation of the underwater vehicle 2 is supported or taken over by the control unit 16 of the relay vehicle 4. The navigation information, respectively the measured values captured by the navigation sensors is directly transmitted from the underwater vehicle 2 to the control unit 16 of the relay vehicle 4. After processing the received navigation information 17, the control unit 16 of the relay vehicle 4 feeds corresponding control information 14 to the control unit 13 of the underwater vehicle 2.

(13) When the operator on board the seagoing vessel 6 takes over control or wants to transmit other commands to the underwater vehicle 2, the relay vehicle 4 receives the corresponding commands via the radio link and transmits corresponding control information 14 to the control unit 13 of the underwater vehicle 2.

(14) Based on an analysis of the pinger signal of the acoustic emitter 18 (FIG. 1) of the underwater vehicle 2, the control unit 16 determines the distance between the underwater vehicle 2 and the relay vehicle 4. Knowledge of the precise distance gives the exact position of the underwater vehicle 2 relative to the relay vehicle 4. The control unit 16 of the relay vehicle 4 further receives GPS position signals 22 via the radio antenna 5, so that the control unit 16 can precisely determine the actual position of the relay vehicle 4. By combining the actual position of the relay vehicle with the relative position of the underwater vehicle, the actual position of the underwater vehicle is calculated and is provided to the underwater vehicle as part of the control information 14. Thus, in the course of the mission program, the autonomous navigation of the underwater vehicle can access the exact position of the underwater vehicle, which the autonomous underwater vehicle cannot reliably determine during its mission under water.

(15) If the control unit 16 of the relay vehicle detects too great a distance between the relay vehicle 4 and the underwater vehicle 2, a course correction is carried out, in order to send the relay vehicle 4 after the underwater vehicle 2. The control unit 16 calculates corresponding control commands 23 for the drive 15 of the relay vehicle 4. During navigation of the relay vehicle 4, the control unit 16 considers the incoming measured values of the sonar device 19 of the relay vehicle 4, evasive maneuvers being initiated if necessary in case of obstacles 20 ahead. In order to improve navigation precision, other navigation sensors 24 are disposed in the relay vehicle 4, which provide additional information to the control unit 16 during guidance of the relay vehicle 4. A data processing device 25 is assigned to the control unit 16 of the relay vehicle 4, in which information destined for external communication 26 is pre-processed. In doing so, a selection of the information desired for external communication 26 can occur; for example, only mission information 9 can be transmitted in real time. The data processing device can furthermore be used for storage of information, so that corresponding devices on board the underwater vehicle 2 are not required and the power supply of the underwater vehicle 2 is relieved.

(16) In the shown exemplary embodiment, the external communication 26 occurs via an encoder 27, which encodes the information destined for external communication 26, respectively decodes the information received via the antenna and makes it available to the control unit 6. That way, it is ensured that during external communication 26 of the underwater work system via the radio antenna 5, the transmitted information is encoded. All the features mentioned in above description of the figures, in the claims and in the introduction to the description are implementable individually as well as in any combination of each other. Therefore, the disclosure of the invention is not limited to the described to the described or claimed feature combinations. Any combination of features must rather be considered as disclosed.