Carrying out remote controlled underwater works

Patent metadata

Field	Value
Publication number	US-10501159-B2
Application number	US-201615741833-A
Country	US
Kind code	B2
Filing date	Jul 13, 2016
Priority date	Jul 15, 2015
Publication date	Dec 10, 2019
Grant date	Dec 10, 2019

Abstract

An unmanned underwater vehicle may comprise a remotely operated underwater vehicle and an autonomously operating underwater vehicle. The unmanned underwater vehicle may also comprise a first connection to the remotely operated underwater vehicle. The first connection may serve to exchange data. The unmanned underwater vehicle may additionally comprise a second connection to the remotely operated underwater vehicle. The second connection may serve to supply energy. The unmanned underwater vehicle may still further include a third connection to the autonomously operating underwater vehicle, which third connection serves to exchange data. A method for executing remotely controlled underwater works may involve dispatching such an unmanned underwater vehicle, decoupling and moving the autonomously operating underwater vehicle, establishing a connection between a first interface of the autonomously operating underwater vehicle and a second interface, setting up a data connection between a control center and the remotely operated underwater vehicle, and executing the underwater works.

First claim

What is claimed is:

1. An unmanned underwater vehicle system, comprising:
an unmanned underwater vehicle (UUV) that is free from any connection to a surface vessel and is configured to autonomously travel to an underwater work site of operation;
a remotely operated underwater vehicle (ROUV) coupled to the UUV by both of a first connection and a second connection, the second connection being configured to supply energy from the UUV to the ROUV; and
an autonomously operating underwater vehicle (AOUV) coupled to the UUV by a third connection, the AOUV comprising:
a first sensor configured to cause the AOUV to autonomously navigate to an on-site interface of an underwater connection line that is hardwired to a land-based control center, and
a first interface configured to autonomously be placed in operative communication with, and establish a data connection with, the on-site interface of the underwater connection line so as to permit data to be exchanged between the land-based control center and the ROUV,

wherein the first connection from the ROUV to the UUV, and the third connection from the UUV to the AOUV, are together configured to permit the exchange of data between the ROUV and the on-site interface of the underwater connection line.

2. The unmanned underwater vehicle system of claim 1 , wherein the first interface is configured to send and receive data electrically, acoustically, or optically.

3. The unmanned underwater vehicle system of claim 1 wherein the autonomously operating underwater vehicle comprises a first sensor configured to autonomously navigate the autonomously operating underwater vehicle, wherein the first sensor is an acoustic sensor or an optical sensor.

4. The unmanned underwater vehicle system of claim 1 further comprising:
a first cable management system for the first and second connections; and
a second cable management system for the third connection.

5. The unmanned underwater vehicle system of claim 1 further comprising an energy generating device.

6. The unmanned underwater vehicle system of claim 5 wherein the energy generating device is a fuel cell or a diesel generator that is non-dependent on external air.

7. The unmanned underwater vehicle system of claim 1 further comprising an energy storage means.

8. The unmanned underwater vehicle system of claim 1 further comprising a dynamic positioning system.

9. The unmanned underwater vehicle system of claim 1 wherein the third connection is configured as a pure data transmission connection.

10. The unmanned underwater vehicle system of claim 1 wherein the autonomously operating underwater vehicle and the remotely operated underwater vehicle are supplied with energy exclusively by the unmanned underwater vehicle.

11. A system for execution of remotely controlled underwater works, the system comprising:
an unmanned underwater vehicle configured to autonomously travel to an underwater work site at which the remotely controlled underwater works are to be performed, the unmanned underwater vehicle including,
a remotely operated underwater vehicle configured to perform remotely controlled underwater work,
an autonomously operating underwater vehicle having a first interface configured to establish a data connection,
a first connection extending from the unmanned underwater vehicle to the remotely operated underwater vehicle and configured to permit data exchange with the remotely operated underwater vehicle,
a second connection extending from the unmanned underwater vehicle to the remotely operated underwater vehicle and configured to supply energy to the remotely operated underwater vehicle, and
a third connection extending from the unmanned underwater vehicle to the first interface of the autonomously operating underwater vehicle, third connection being in operative communication with both of the first connection and the remotely operated underwater vehicle and configured to permit data exchange from the remotely operated underwater vehicle to the first interface;

a control center configured to provide operating instructions to the remotely operated underwater vehicle; and
a connection line having a first end in operative communication with the control center, and an opposing second end comprising a second interface disposed at the underwater work site,
wherein, the autonomously operating underwater vehicle is configured to autonomously navigate to the second interface after the unmanned underwater vehicle arrives at the underwater work site, and
wherein the second interface is configured to establish a data connection with the first interface of the autonomously operating underwater vehicle, so as to permit the exchange of data between the control center and the remotely operated underwater vehicle, through each of the connection line, the second interface, the first interface of the autonomously operating underwater vehicle, the third connection, and the first connection.

12. A method for executing remotely controlled underwater works, the method comprising:
dispatching an unmanned underwater vehicle that is free from any physical connection to a surface vessel to autonomously navigate to an underwater work site at which the remotely controlled underwater works are to be executed, the unmanned underwater vehicle including,
a remotely operated underwater vehicle coupled to the unmanned underwater vehicle by both of a first connection configured exchange data with the remotely operated underwater vehicle, and a second connection configured to supply energy to the remotely operated underwater vehicle,
an autonomously operating underwater vehicle coupled to the unmanned underwater vehicle by a third connection that is configured to exchange data with the remotely operated underwater vehicle through the first connection, and
an energy storage means;

releasing the autonomously operating underwater vehicle from the unmanned underwater vehicle so that it is separately navigable from the unmanned underwater vehicle;
autonomously navigating the autonomously operating underwater vehicle to a second interface of an underwater communication line connected to a control center;
establishing a connection between a first interface of the autonomously operating underwater vehicle and the second interface, after the autonomously operating underwater vehicle autonomously arrives at the location of the second interface;
setting up a data connection between the control center and the remotely operated underwater vehicle through the respective connections between each of the communication line, the second interface, the first interface, the third connection, and the first connection; and
executing the remotely controlled underwater works by sending control signals from the control center through the established data connection to the remotely operated underwater vehicle, for execution by the remotely operated underwater vehicle.

Assignees

• Thyssenkrupp Marine Sys Gmbh
• Thyssenkrupp Ag

Inventors

• Frühling Christian
• Brandt Hendrik
• Panoch Axel

Classifications

• B63G2008/002

  unmanned · CPC title

• B63G8/001 Primary

  Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42) · CPC title

• B63G2008/007

  by means of a physical link to a base, e.g. wire, cable or umbilical · CPC title

• B63H25/42

  Steering or dynamic anchoring by propulsive elements (by jets B63H25/46); Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers · CPC title

• B63G2008/004

  autonomously operating · CPC title