UNFILTERED SURFACE VEHICLE (Machine-translation by Google Translate, not legally binding)

专利摘要:
Unmanned surface vehicle, characterized in that it comprises: a floating helmet (19); an underwater sail (5), with a cylindrical shape, adapted to drive the vehicle using underwater currents; a source of electrical energy, preferably by means of photovoltaic solar panels (6); means for driving the underwater sail configured to produce the lifting or lowering of the underwater sail (5); a submarine current sensor (12) for detecting the intensity and direction of submarine currents; a control module (16) configured to position the underwater sail (5) at a certain depth based on at least the information provided by the underwater current sensor (12). The vehicle is preferably used for the detection and aggregation of schools of fish. (Machine-translation by Google Translate, not legally binding)
公开号:ES2711855A1
申请号:ES201930151
申请日:2019-02-22
公开日:2019-05-07
发明作者:Martins Francisco Pino；Baleato Bruno Lema；Presa Carlos Groba
申请人:Marine Instr S A；
IPC主号:

专利说明:

[0001]
[0002] UNFILTERED SURFACE VEHICLE
[0003]
[0004] Technical field of the invention
[0005]
[0006] The invention belongs to the field of unmanned surface vehicles (commonly known by the acronym "USV", from the English "Unmanned Surface Vehicle") propelled by marine currents. A prominent application of the vehicle is the aggregation and detection of schools of fish, particularly pelagic species.
[0007]
[0008] Background of the invention or state of the art
[0009]
[0010] In the industrial fishing of tunas and other pelagic species, fishing with FAD ("Fish Aggregating Devices" or Fish Aggregating Devices, for its acronym in English) is widespread. FADs are floating elements of natural or artificial origin to concentrate fish. It has been observed that, after a while in the water, these floating elements generate an ecosystem that favors the fish banks (especially tunidos) to stay under it at certain times of the day.
[0011]
[0012] Usually, these FADs usually carry nets, which range from 10 to 70 meters deep, acting as floating anchors, creating, on the one hand, a submarine light discontinuity and, on the other hand, allowing them to drift and be dragged under the effect of more currents. deep
[0013]
[0014] Thus, in the state of the art there is a plurality of disclosures directed to unmanned devices related to concentration or detection of fish, and other self-propelled devices, within which is document FR 2674338 teaching a radio-buoy system with GPS , which reports on the position of the fish, where the system described comprises a device for detecting concentrations of fish, and for transmitting information about the location of said fish and the conditions for fishing, such as the state of the sea, local fish banks, etc. In addition, the system comprises a satellite system for the location and collection of data, as well as an interrogation station on the fishing boats or auxiliary facilities, where the station comprises means for transmitting instructions for the selective activation of the transmission means in the device , and means to receive the information transmitted by said maritime device and said satellite system for location and data collection.
[0015]
[0016] On the other hand, the patent application ES2454915 A1 discloses a buoy for fish detection equipped with GPS, a multifrequency sonar configured to emit and receive electrical signals, a piezoelectric transducer for generation and collection of ultrasonic waves, and accelerometers to measure the angle of inclination of the buoy at the moment of emission and reception of the ultrasonic waves, and to determine at what moment to trigger an ultrasonic signal.
[0017]
[0018] Now, there is also patent application ES2528566 A1, which refers to an unmanned, navigable and self-propelled device for detecting and adding schools of fish, which autonomously navigates according to a strategy defined by its user as a function of data. , such as the presence of fish, species and sizes, water temperature, presence of phytoplankton, chlorophyll front, surface currents and deep layers.
[0019]
[0020] Finally, there is the application WO 2012126017 A2 that defines a system and a methodology of artifacts that can be used to promote the growth of phytoplankton in the oceans, where the devices are unmanned, propelled by marine currents and are equipped with storage units for dispense a fertilizer and, in addition, have sensors to monitor oceanic conditions and effects. Thus, fleets of artifacts move autonomously by on-board processing of GPS signals and directional information, defining a course by means of a central processing unit. The artifacts navigate through a defined target area, creating a detailed study of the chemical and biological characteristics that affect growth. Then, the data is processed in a computer module to identify the precise locations and quantities of fertilizer that will produce the best results. Thus, the projected benefits of plankton fertilization include capturing CO ² from the atmosphere and improving the marine food chain to improve the amount of fish in and around the treated area.
[0021]
[0022] In summary, it can be shown that the existing FADs present the disadvantage that they do not have the capacity to change their course depending on the data obtained, but, on the contrary, follow a trajectory influenced by the winds and the marine currents of the water column, according to the length of their nets, which act as a drift anchor. Thus, there is a common problem related to the fact that existing devices of this type and the buoys subject to them are stranded at coast, which represents a considerable loss of time and expense, which makes the devices have very high operating costs. On the other hand, autonomous self-propelled devices are hardly capable of adding fish, which obviously also corresponds to a problem because they do not fulfill the desired function.
[0023]
[0024] According to the information provided above, clearly in the state of the art there is a need to design and implement an unmanned surface vehicle which has the ability to change its course or trajectory in a controlled manner, following the current of a specific layer time to avoid being stranded on the coast, thus ensuring its correct and continuous operation.
[0025]
[0026] Brief description of the invention
[0027]
[0028] The present invention relates to an unmanned surface vehicle propelled by marine currents, especially suitable for detecting and adding schools of fish.
[0029]
[0030] To achieve said objective, the vehicle of the present invention is equipped with an underwater sail, which can be raised and lowered to different depths to take advantage of the different directions of the marine currents, and thus have the ability to change direction, thus achieving derive in a preferred direction, with a very low energy consumption.
[0031]
[0032] Thus, the vehicle of the present invention comprises a floating hull, an underwater sail adapted to propel the vehicle using the marine currents, means for operating the underwater sail configured to produce the lifting or lowering of the underwater sail, a submarine current sensor , and a control module configured to position the underwater sail at a certain depth based on at least the information provided by the underwater current sensor. The vehicle also has a power source, preferably implemented by one or more photovoltaic solar panels, to produce electrical energy for the control electronics and for the means of operating the underwater sail.
[0033] In order to carry out proper maintenance, the underwater sail can be hoisted or lowered once a day, and so the temperature in the entire water column is also measured.
[0034]
[0035] In one embodiment, the vehicle of the present invention further comprises a communication module connected to the control module and configured to send and receive information wirelessly. By means of the communication module the vehicle can receive a navigation route or instructions for the vehicle to try to follow, raising or lowering its underwater sail, a specific trajectory. The vehicle can also send data related to the water or detected schools of fish to a remote station.
[0036]
[0037] In one embodiment, the vehicle comprises a geolocation module that allows its location to be obtained at all times with an adequate precision. The geolocation module is connected to the control module and allows it to perform checks and / or course corrections.
[0038]
[0039] Additionally, for the particular fish search and aggregation application, the vehicle may incorporate fish aggregation means to attract fish schools (eg a configurable intensity lighting source located in the hull and sensor means for detecting fish and / or measuring environmental conditions).
[0040]
[0041] The control module may be configured to position the underwater sail using also the information provided by said sensor means. The sensor means may comprise any combination of the following sensors:
[0042] - One or more hydroacustic detection probes (9) to detect a school of fish and / or identify the type thereof.
[0043] - A submarine current detection equipment in intensity and direction (current profiler).
[0044] - An underwater camera to capture images of the fish and thus have a visual record of the fish detected.
[0045] - A temperature sensor that allows you to measure the surface temperature of the water, as well as another temperature sensor on the bottom of the candle submarine that allows to measure the water temperature at different depths.
[0046] - A turbidity sensor configured to estimate the level of phytoplankton present in the water.
[0047]
[0048] In a preferred embodiment, the underwater current sensor is associated with the control module and with the geolocation module to set the navigation route according to the available energy, providing the appropriate autonomy to the vehicle.
[0049]
[0050] In another embodiment, the vehicle also comprises a magnetic compass or magnetic compass and / or a gyroscope to record and communicate the rotations of the vehicle to the control module, so that they can then be sent or stored.
[0051]
[0052] In another embodiment, the vehicle further comprises an inertial detection equipment with accelerometers configured to measure and communicate the height and direction of the waves to the control module.
[0053]
[0054] The floating hull can comprise a platform and one or more floating elements. The buoyancy of the float elements is preferably variable and remotely controllable to submerge at least partially. The float elements may comprise one or more internal water deposits in the boat hull that can be filled and emptied in a controlled manner. In one embodiment, the internal water tanks have an aft opening that allows water to be filled when the vehicle is stopped and water drained when the vehicle is in motion. The vehicle can also comprise a pump for filling or emptying the internal water deposits.
[0055]
[0056] Brief description of the figures
[0057]
[0058] The present invention is understood more clearly from the following figures which show the components associated with the vehicle of the present invention, as well as the novel elements with respect to the state of the art, where the figures are informative and not they are intended to limit the scope of the invention, which is determined solely by the appended claims, wherein:
[0059]
[0060] Figure 1 illustrates a perspective view of the vehicle of the present invention.
[0061] Figure 2 shows a schematic side view of the vehicle of the present invention.
[0062]
[0063] Figure 3 shows a schematic top view of the vehicle of the present invention.
[0064]
[0065] Figure 4 shows a schematic bottom view of the vehicle of the present invention.
[0066]
[0067] Figure 5 shows a schematic front view of the vehicle of the present invention.
[0068]
[0069] Figure 6 shows a bottom view of an alternate embodiment of the vehicle of the present invention including internal tanks for modifying buoyancy.
[0070]
[0071] Figure 7 shows a block diagram of the vehicle of the present invention, where the elements forming part of it are illustrated.
[0072]
[0073] Detailed description of the invention
[0074]
[0075] With reference to Figures 1 to 7, an exemplary embodiment or preferred embodiment of the present invention is illustrated, which should not be considered as limiting, but is defined in its broadest sense, in accordance with the teachings of this document. .
[0076]
[0077] As can be seen from the different views represented in Figures 1 to 6, the present invention relates to a boat or unmanned surface vehicle, especially suitable for the detection and aggregation of schools of fish.
[0078]
[0079] The vehicle includes a floating hull 19 formed, in a particular embodiment, by a platform 14 and one or more float elements 7. The vehicle incorporates a submarine current sensor 12 of Doppler effect, for the measurement of the intensity and direction of the currents underwater, and an underwater sail 5 located below the floating hull 19, as shown in Figures 1, 2 and 5, whose position is controlled by a motor 8 that allows the lifting or lowering of the underwater sail 5 at different depths for so change the direction and / or speed of the vehicle depending on the marine currents detected. In a preferred embodiment, the underwater sail 5 has a cylindrical shape (for example, with an approximate diameter of 2 meters and a long approximately 5 meters). Radial supports 22 allow the underwater sail 5 to be extended. The mode of operation of the vehicle is similar to an aerostatic balloon in the air, but taking advantage of the different directions of the currents in the water column.
[0080]
[0081] A control module 16, housed inside the platform 14, is responsible for receiving the information of the submarine current sensor 12 and, using said information, controlling the drive of the motor 8 to deploy the underwater sail 5 at a suitable height according to the marked course.
[0082]
[0083] The platform 14 allows the underwater sail drive means (implemented in the embodiment shown in the figures) to be fixed by the motor 8 which extends or collects a retractable mast 20, which holds the underwater sail 5 through the radial supports 22), to provide a very low center of gravity.
[0084]
[0085] Although in the figures the platform 14 is represented with a basic shape (a parallelepiped), the floating hull 19 can adopt different curvatures, concave or convex, to facilitate the navigation of the vessel. In one embodiment, the floating hull 19 includes on its bottom surface, below the platform 14, float elements 7 arranged on the side edges of said surface, where preferably the float elements 7 are two, as illustrated in the Figure 4, although it is contemplated that the vehicle could have a single float element 7, or contain three, four or any other number of float elements 7, without limitation. In the embodiment shown in the figures the platform 14 serves as a union of the float elements 7. In another possible embodiment, the floatation elements 7 are located, at least partially, contained in the platform 14. The material of the floatation elements 7 is preferably of foam-filled compound, which provides buoyancy.
[0086]
[0087] Optionally, as shown in Figure 6, the float elements 7 may have a variable and remote controlled buoyancy to be able to submerge partially or completely for a certain time to be very discreet. To do this, the car's hull can have a shape that allows it to be semi-submerged in standstill, and emerge when starting to move with the help of its propulsion equipment. To achieve the above, the vehicle can have internal water reservoirs 18 that can be filled and emptied in a controlled manner, such as, for example, by means of a water pump. Even, just with a few openings aft of the boat that allow its filling when standing and when starting the propulsion thanks to its hydrodynamic shape, the vehicle raises its bow and thus the tanks 18 are emptied by gravity.
[0088]
[0089] According to one embodiment, the vehicle comprises a satellite geolocation module 2 and a communication module 1 to wirelessly transmit the results of the sensor measurements, the position, etc. and that also allows to receive instructions to control the operation of the vehicle. Both modules (1, 2) are located in the upper part of the platform 14, so that they remain outside the water and thus can fulfill their function properly. In this way, the communication module 1 can transmit, periodically or upon request, the position, temperature, energy level, activity detected, etc. data.
[0090]
[0091] In a preferred embodiment, the geolocation 2 and communication 1 modules are disposed within a protection element 21 which protects said components from the environment.
[0092]
[0093] The vehicle also incorporates one or more hydroacustic detection probes 9 for the detection of fish, where said hydroacustic detection probes 9 are connected to the communication module 1 to allow the sending of the information detected by them, in order to be able to get information about the types of fish under the vehicle and estimate their quantity.
[0094]
[0095] Figure 2 also shows the vehicle of the present invention which also comprises, according to a possible embodiment, a wind speed measurement sensor 3 and a lighting spot 4, which preferably are located on a mast or support 31 in the upper part of the vehicle, next to or adjacent to the protection element 21 that contains the geolocation module 2 and the communication module 1.
[0096]
[0097] As illustrated in Figure 3, the vehicle of the invention preferably has a power source implemented by photovoltaic solar panels 6, which generate electrical energy that can be stored in one or more rechargeable batteries 15. The panels 6 solar panels are arranged on the upper surface of the vehicle and, preferably, they are located on each side of the modules (1,2) and of the mast 31. Inside the platform 14 the rechargeable batteries 15 are housed.
[0098]
[0099] In a preferred embodiment, the vehicle has two solar panels 6, as illustrated in Figure 3; however, it is also contemplated within the scope of the present invention, that a greater or lesser number of said panels 6 may be included depending on the type of panels to be used and the capacity thereof.
[0100]
[0101] In one embodiment, the vehicle may include temperature sensors (upper temperature sensor 13 located at the bottom of the platform 14 and lower temperature sensor 17 located at the bottom of the underwater sail 5) to measure the temperature throughout the water column, and a turbidity sensor 11 to measure the amount of phytoplankton present in the water. Additionally, the temperature sensors (13, 17) can verify that the temperature of the water column is higher for, in combination with data the turbidity sensor 11, to avoid false positives when an increase in turbidity is not due to phytoplankton .
[0102]
[0103] Thus, with the incorporation of a submarine current sensor 12, information necessary to determine navigation routes with the lowest possible energy consumption is obtained, thus taking advantage of the orientation of submarine currents at different depths for the propulsion of the vehicle.
[0104]
[0105] The vehicle also comprises a control module 16, which is connected to the communication module 1 to receive a series of commands that allow to act on the vehicle. A memory (not shown) may also be included that allows to store data on the processed signals and the measured values, among other things.
[0106]
[0107] The vehicle of the present invention may include a submarine camera 10, which allows to make a display under the vehicle and to be able to check the types of fish and / or their quantity.
[0108]
[0109] Additionally, the vehicle may include other devices, such as a magnetic compass or compass and / or a gyroscope to record the rotations of the vehicle, as well as an inertial detection device composed of a series of accelerometers to measure the height and direction of the vehicle. the waves, and so have this information in mind and be able to optimize the route to follow.
[0110] Alternatively or in conjunction with the photovoltaic panels 6, the vehicle may include a different energy source, such as, without limitation, a wind generator, a thermodynamic energy generator, a fuel tank, a fuel cell or a hydrogen tank. The energy sources can be connected to the rechargeable batteries 15 to store the unused energy and use it in case of need when the supply of the power source is not sufficient.
[0111]
[0112] In accordance with the above defined, a description of the operation of the device is made below, where said operation does not intend, in any way, to limit the scope of the invention, and those skilled in the art can demonstrate other forms of operation that also they are within the scope and spirit of the present invention.
[0113]
[0114] As a first step, based on data from satellite images of water temperatures, currents and presence of nutrients and chlorophyll, an area with possible presence of phytoplankton can be deduced. This means that this zone has a high probability of being productive due to the presence of fish in the following days / weeks. This zone would be a candidate as a destination for the launch of the vehicle of the present invention or to be directed towards it.
[0115]
[0116] So, to go to the chosen area, you must establish an optimized navigation route based on satellite data on marine currents and meteorology. This navigation route can be optimized daily from the ground in a server that simulates the different navigation possibilities taking into account the marine currents and meteorological conditions, where the user can decide to pilot his vehicle manually or request his piloting to the server that optimizes your route to arrive at the required time to the determined place. In this way, the server will define the navigation route based on information of current models measured by satellites, as well as based on the currents of the water column measured from the vehicle by its submarine current sensor 12.
[0117]
[0118] Having the information defined in the previous paragraphs, the navigation orders are sent by satellite through the communication module 1, which receives the data and passes them to the control module 16 for its respective interpretation.
[0119] Thus, as illustrated in Figure 7, the control module 16 is connected to the hydroacoustic detection probe 9, the underwater camera 10, the turbidity sensor 11, the underwater current sensor 12, the temperature sensors (13). , 17), which transmit the information by satellite thanks to the communication module 1. Likewise, the control module 16 is connected with the geolocation module 2 to perform a constant check and course corrections, based on data from the sensor underwater currents 12, thus positioning the submarine sail 5 in the proper depth, to prevent the vehicle from entering dangerous areas of squatting, or in non-jurisdictional waters, etc. It is important to bear in mind that in this Figure 7, the dashed line linking elements indicates data and the continuous line indicates orders / instructions.
[0120]
[0121] The control module 16 manages the process, obtains the data measured by the different sensors and probes to control the vehicle, while it can transmit them wirelessly to a server through the communication module 1. Also through the communication module 1 can receive orders to remotely direct the vehicle or activate any of the previous devices, as previously indicated.
[0122]
[0123] Within the detection means used by the present vehicle, is the hydroacoustic detection probe 9, which is used to discern types of fish, species and sizes. This hydroacoustic detection probe 9 transmits to the water a series of ultrasonic pulses of different frequencies and detects the echoes independently in any of the transmitted frequencies, having the capacity to measure the resulting echo of each frequency independently. Thus, the response of a fish or set of fish at different ultrasonic frequencies can be obtained thanks to the characteristics of the wave received as an echo, and its size and even the species can be classified (skipjack, yellowfin, albacore, bigeye, etc.). ). For this, it is important to know the characteristics of the reflected echo for the pulse emitted for a specific fish species, with which an acoustic signature can be established.
[0124]
[0125] In this way, the differences in reflected echo are usually caused by morphological characteristics, such as different densities of the body, size, shape, hardness of the skin and presence or not of swim bladder, etc. Thus, by comparing the results with this information, a species can be identified. In other cases, although the species can not be determined exactly, if information of interest for fishing can be extracted. For example, you can store the moment of detection of a bank with specific characteristics and thereby identify patterns of behavior.
[0126]
[0127] On the other hand, the vehicle of the present invention has an external shape that generates a shadow similar to an FAD object, both in surface with a shape of approximately 2m x 2m and in the bottom with its underwater sail, this in order to achieve attract and add fish. As mentioned throughout the present document, the vehicle of the invention preferably has a shape that represents a surface similar to the FAD objects. In one embodiment, the shape of the vehicle has a design with an area of 4 m2, a mono or multi-hull form (a form of structure, for example, square, of about 2m x 2m).
[0128]
[0129] Although the present invention has been defined in terms of the preferred embodiments and / or configurations that allow obtaining the desired result, it is understood that within the present disclosure, multiple modifications and / or alternatives that can be derived in an evident manner are contemplated. an expert in the field, reason why the scope of the present invention is not defined solely by the preferred implementations defined herein, but, on the contrary, it is entirely defined by the appended claims.

权利要求:
Claims (20)
[1]
1. Unmanned surface vehicle, characterized in that it comprises:
a floating helmet (19);
an underwater sail (5) adapted to drive the vehicle using underwater currents;
a source of electrical energy;
means for driving the underwater sail configured to produce the lifting or lowering of the underwater sail (5);
a submarine current sensor (12);
a control module (16) configured to position the underwater sail (5) at a certain depth based on at least the information provided by the underwater current sensor (12).
[2]
Vehicle according to claim 1, characterized in that it comprises sensor means for detecting fish and / or measuring environmental conditions.
[3]
Vehicle according to claim 2, characterized in that the control module (16) is configured to position the underwater sail (5) using the information provided by the sensor means.
[4]
Vehicle according to claim 2 or 3, characterized in that the sensing means comprise at least one hydroacoustic detection probe (9) for detecting a school of fish and / or identifying the type thereof.
[5]
Vehicle according to any of claims 2 to 4, characterized in that the sensing means comprise an underwater camera (10) configured to capture images of the fish.
[6]
Vehicle according to any one of claims 2 to 5, characterized in that the sensor means comprises a turbidity sensor (11) configured to estimate the level of phytoplankton present in the water.
[7]
Vehicle according to any of claims 2 to 6, characterized in that the sensor means comprise temperature sensors (13, 17) configured to measure the surface temperature of the water and the depth of the underwater sail (5).
[8]
Vehicle according to claims 6 and 7, characterized in that the control module (16) is configured to validate the phytoplankton estimation of the turbidity sensor (11) according to the temperature of the water measured by the temperature sensors (13, 17).
[9]
9. Vehicle according to any of the preceding claims, characterized in that it comprises a geolocation module (2) connected to the control module (16) to perform checks and / or course corrections.
[10]
Vehicle according to any one of the preceding claims, characterized in that it comprises a magnetic compass and / or a gyroscope for registering and communicating the rotations to the control module (16).
[11]
Vehicle according to any of the preceding claims, characterized in that it comprises an inertial detection device composed of accelerometers configured to measure and communicate the height and direction of the waves to the control module (16).
[12]
Vehicle according to any one of the preceding claims, characterized in that it comprises a communication module (1) connected to the control module (16) for wirelessly receiving a navigation route and / or instructions for the vehicle to follow a specific path.
[13]
Vehicle according to any of the preceding claims, characterized in that the means for driving the underwater sail comprise a motor (8) configured to drive a retractable mast (20) integral with the underwater sail (5).
[14]
Vehicle according to any one of the preceding claims, characterized in that the underwater sail (5) has a cylindrical shape.
[15]
Vehicle according to any one of the preceding claims, characterized in that the electric power source comprises at least one photovoltaic solar panel (6).
[16]
Vehicle according to any one of the preceding claims, characterized in that the floating hull (19) comprises a platform (14) and at least one float element (7).
[17]
17. Vehicle according to claim 16, characterized in that the buoyancy of the at least one float element (7) is variable and controllable to submerge partially or totally.
[18]
18. Vehicle according to claim 17, characterized in that the at least one float element (7) comprises one or more internal water reservoirs (18) that can be filled and emptied in a controlled manner.
[19]
Vehicle according to claim 18, characterized in that the internal water reservoirs (18) have an aft opening that allows the filling of water when the vehicle is stopped and the water drained when the vehicle is in motion.
[20]
Vehicle according to any of claims 18 to 20, characterized in that it comprises a pump for filling or emptying the internal water reservoirs (18).

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同族专利:

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公开号 | 公开日

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ES2711855B2|2019-09-11|

引用文献:

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优先权:

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申请号 | 申请日 | 专利标题

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ES201930151A|ES2711855B2|2019-02-22|2019-02-22|UNTRIPULATED SURFACE VEHICLE|ES201930151A| ES2711855B2|2019-02-22|2019-02-22|UNTRIPULATED SURFACE VEHICLE|