Key information

Title
DYNAMIC TRAWL STEERING SYSTEM
Application number
20180775
Case type
National
Status
11.02.2022 Opphevet etter innsigelse
Filed
05.06.2018
Effective date
05.06.2018
Publicly available
06.12.2019
Applicant
Remøy Sea Group AS (NO)
Owner
Remøy Sea Group AS (NO)
Inventor
Jack E Remøy (NO)
Granted
20.01.2020
Patent number
344522

Abstract and drawing

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content.
The present invention relates to a trawl steering system comprising a sea vessel and a trawl system. The system including a measuring unit for detecting and monitoring the position and movements of a target volume in the sea, the target volume constituted by a school, veil or haze of fish or shrimps to be caught in the trawl, and for monitoring the position of the trawl relative to said target volume. The system also comprises sampling means for sampling information including wind, current, and vessel and trawl characteristics and a route estimator for calculating an optimal trawl path and controller means for adjusting vessel and trawl parameters so as to provide a movement for the trawl toward the target volume along said optimal path and thus increase the catch and reducing the bunker consumption and associated environmental impact.

Publications

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Documents

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Date
 Date Doc. No. Process Case number In/Out Journal description To/from
 29.11.2023 12-01 Saksbehandling 20180775(344522) INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 10.11.2023 11-01 Saksbehandling 20180775(344522) UT PT Påminnelse om ikke betalt årsavgift (3329) (PT20180775)
10.10.2023 02-01 Endring av fullmektig 2023/13933 UT GH Forespørsel BRYN AARFLOT AS
 21.09.2023 01-01 Endring av fullmektig 2023/13933 INN Generell henvendelse BRYN AARFLOT AS
05.09.2023 04-01 Klage til Klagenemda (KFIR) 2022/00170 INN Avgjørelse 22-00074_
05.09.2023 03-01 Klage til Klagenemda (KFIR) 2022/00170 INN E-post fra KFIR
16.05.2022 02-01 Klage til Klagenemda (KFIR) 2022/00170 UT OP05: Oversendelse Klagenemnda for industrielle rettigheter
11.04.2022 01-07 Klage til Klagenemda (KFIR) 2022/00170 INN Reviderte krav - no-eng BRYN AARFLOT AS
11.04.2022 01-06 Klage til Klagenemda (KFIR) 2022/00170 INN Reviderte krav - no-eng - markert versjon BRYN AARFLOT AS
11.04.2022 01-05 Klage til Klagenemda (KFIR) 2022/00170 INN NIPO 02-D8 Reite 2006 - part 3 - pages 201-262 6.7-7 BRYN AARFLOT AS
11.04.2022 01-04 Klage til Klagenemda (KFIR) 2022/00170 INN NIPO 02-D8 Reite 2006 - part 2 - pages 101-200 4.1-6.7 BRYN AARFLOT AS
11.04.2022 01-03 Klage til Klagenemda (KFIR) 2022/00170 INN NIPO 02-D8 Reite 2006 - part 1 - pages 001-100 1.1-4 BRYN AARFLOT AS
11.04.2022 01-02 Klage til Klagenemda (KFIR) 2022/00170 INN 141021 Appeal to KFIR_ BRYN AARFLOT AS
11.04.2022 01-01 Klage til Klagenemda (KFIR) 2022/00170 INN Nytt overprøvningskrav (OP) BRYN AARFLOT AS
 11.02.2022 33-02 Innsigelse 2020/00456 UT IAIN07P- Avgjørelse - innsigelse_1537496
11.02.2022 33-01 Innsigelse 2020/00456 UT OP09: Oversendelse med avgjørelse BRYN AARFLOT AS
 11.02.2022 32-02 Innsigelse 2020/00456 UT IAIN07P- Avgjørelse - innsigelse_1537496
11.02.2022 32-01 Innsigelse 2020/00456 UT OP09: Oversendelse med avgjørelse ONSAGERS AS
 12.11.2021 31-01 Innsigelse 2020/00456 UT Opp til avgjørelse BRYN AARFLOT AS
 12.11.2021 30-04 Innsigelse 2020/00456 UT Reviderte krav - no-eng - ren versjon
12.11.2021 30-03 Innsigelse 2020/00456 UT Reviderte krav - no-eng - markert versjon
12.11.2021 30-02 Innsigelse 2020/00456 UT Kommentarrer til innsigelse
12.11.2021 30-01 Innsigelse 2020/00456 UT Opp til avgjørelse ONSAGERS AS
 27.10.2021 29-04 Innsigelse 2020/00456 INN Reviderte krav - no-eng - ren versjon BRYN AARFLOT AS
 27.10.2021 29-03 Innsigelse 2020/00456 INN Reviderte krav - no-eng - markert versjon BRYN AARFLOT AS
 27.10.2021 29-02 Innsigelse 2020/00456 INN Kommentarrer til innsigelse BRYN AARFLOT AS
 27.10.2021 29-01 Innsigelse 2020/00456 INN Korrespondanse (Hovedbrev inn) BRYN AARFLOT AS
 30.08.2021 28-01 Innsigelse 2020/00456 UT Bekreftelse ONSAGERS AS
 30.08.2021 27-02 Innsigelse 2020/00456 UT OP1175NO00 Kommentarer til nytt kravsett 27082021
30.08.2021 27-01 Innsigelse 2020/00456 UT Oversendelse BRYN AARFLOT AS
 27.08.2021 26-02 Innsigelse 2020/00456 INN OP1175NO00 Kommentarer til nytt kravsett 27082021 ONSAGERS AS
 27.08.2021 26-01 Innsigelse 2020/00456 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 02.07.2021 25-03 Innsigelse 2020/00456 UT OP1175NO00 Letter_to_NIPO
02.07.2021 25-02 Innsigelse 2020/00456 UT OP01: Generelt brev
02.07.2021 25-01 Innsigelse 2020/00456 UT OP01: Generelt brev BRYN AARFLOT AS
 02.07.2021 24-01 Innsigelse 2020/00456 UT OP01: Generelt brev ONSAGERS AS
 10.06.2021 23-02 Innsigelse 2020/00456 INN OP1175NO00 Letter_to_NIPO ONSAGERS AS
 10.06.2021 23-01 Innsigelse 2020/00456 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 07.06.2021 22-01 Innsigelse 2020/00456 UT Opp til avgjørelse BRYN AARFLOT AS
 07.06.2021 21-04 Innsigelse 2020/00456 UT Letter to the NIPO patent
07.06.2021 21-03 Innsigelse 2020/00456 UT 134523 revidert krav 2 NO
07.06.2021 21-02 Innsigelse 2020/00456 UT 134523 revidert krav 2 EN
07.06.2021 21-01 Innsigelse 2020/00456 UT Opp til avgjørelse ONSAGERS AS
 25.05.2021 20-04 Innsigelse 2020/00456 INN Letter to the NIPO patent
25.05.2021 20-03 Innsigelse 2020/00456 INN 134523 revidert krav 2 NO
25.05.2021 20-02 Innsigelse 2020/00456 INN 134523 revidert krav 2 EN
25.05.2021 20-01 Innsigelse 2020/00456 INN Korrespondanse (Hovedbrev inn)
22.02.2021 19-02 Innsigelse 2020/00456 UT 202000456_D19_2
22.02.2021 19-01 Innsigelse 2020/00456 UT Oversendelse BRYN AARFLOT AS
 22.02.2021 18-02 Innsigelse 2020/00456 UT 202000456_D19_1
22.02.2021 18-01 Innsigelse 2020/00456 UT Oversendelse BRYN AARFLOT AS
 22.02.2021 17-02 Innsigelse 2020/00456 UT D18 Inventas presentasjon 2015 - Oppsummering fra intervju og arbeidsmåte (workshop) 983946
22.02.2021 17-01 Innsigelse 2020/00456 UT Oversendelse BRYN AARFLOT AS
 22.02.2021 16-01 Innsigelse 2020/00456 UT Bekreftelse ONSAGERS AS
 22.02.2021 15-04 Innsigelse 2020/00456 UT Supplement innsigelse 17022021 983949
22.02.2021 15-03 Innsigelse 2020/00456 UT D20 Pedersen 2009 Fremtidens tråler - sluttrapport 983948
22.02.2021 15-02 Innsigelse 2020/00456 UT D17 Bjørkum 1991 STYRING AV FARTØY VED FORFLYTNING AV SLEPEFESTE FOR TRALVARP 983945
22.02.2021 15-01 Innsigelse 2020/00456 UT Oversendelse BRYN AARFLOT AS
 17.02.2021 14-06 Innsigelse 2020/00456 INN Supplement innsigelse 17022021 983949
17.02.2021 14-05 Innsigelse 2020/00456 INN D20 Pedersen 2009 Fremtidens tråler - sluttrapport 983948
17.02.2021 14-04 Innsigelse 2020/00456 INN D19 Åsbø 2017 Investigation of thrust loss due to steering during trawling 983947
17.02.2021 14-03 Innsigelse 2020/00456 INN D18 Inventas presentasjon 2015 - Oppsummering fra intervju og arbeidsmåte (workshop) 983946
17.02.2021 14-02 Innsigelse 2020/00456 INN D17 Bjørkum 1991 STYRING AV FARTØY VED FORFLYTNING AV SLEPEFESTE FOR TRALVARP 983945
17.02.2021 14-01 Innsigelse 2020/00456 INN Korrespondanse (Hovedbrev inn)
28.01.2021 13-05 Innsigelse 2020/00456 UT Svar innsigelse i NIPO
28.01.2021 13-04 Innsigelse 2020/00456 UT 134523 krav -markert versjon.docx
28.01.2021 13-03 Innsigelse 2020/00456 UT 134523 krav - norsk
28.01.2021 13-02 Innsigelse 2020/00456 UT 134523 krav - engelsk
28.01.2021 13-01 Innsigelse 2020/00456 UT OP01: Generelt brev ONSAGERS AS
 22.01.2021 12-05 Innsigelse 2020/00456 INN Svar innsigelse i NIPO
22.01.2021 12-04 Innsigelse 2020/00456 INN 134523 krav -markert versjon.docx
22.01.2021 12-03 Innsigelse 2020/00456 INN 134523 krav - norsk
22.01.2021 12-02 Innsigelse 2020/00456 INN 134523 krav - engelsk
22.01.2021 12-01 Innsigelse 2020/00456 INN Korrespondanse (Hovedbrev inn)
09.12.2020 11-02 Innsigelse 2020/00456 UT Oversendelse
09.12.2020 11-01 Innsigelse 2020/00456 UT Oversendelse BRYN AARFLOT AS
 09.12.2020 10-01 Innsigelse 2020/00456 UT Oversendelse ONSAGERS AS
 27.10.2020 09-01 Innsigelse 2020/00456 UT Bekreftelse ONSAGERS AS
 27.10.2020 08-02 Innsigelse 2020/00456 UT D8 Reite 2006 - part 3 - pages 201-262
27.10.2020 08-01 Innsigelse 2020/00456 UT Oversendelse av innsigelse IN01P BRYN AARFLOT AS
 27.10.2020 07-01 Innsigelse 2020/00456 UT Oversendelse av innsigelse IN01P BRYN AARFLOT AS
 27.10.2020 06-02 Innsigelse 2020/00456 UT D8 Reite 2006 - part 2 - pages 101-200
27.10.2020 06-01 Innsigelse 2020/00456 UT Oversendelse av innsigelse IN01P BRYN AARFLOT AS
 27.10.2020 05-02 Innsigelse 2020/00456 UT D8 Reite 2006 - part 1 - pages 001-100
27.10.2020 05-01 Innsigelse 2020/00456 UT Oversendelse av innsigelse IN01P BRYN AARFLOT AS
 27.10.2020 04-02 Innsigelse 2020/00456 UT D8 Reite 2006 - part 1 - pages 001-100
27.10.2020 04-01 Innsigelse 2020/00456 UT Oversendelse av innsigelse IN01P ONSAGERS AS
21.10.2020 03-03 Innsigelse 2020/00456 UT D13 Fishmaster solution
21.10.2020 03-02 Innsigelse 2020/00456 UT D12 SIMRAD ITI Manual
21.10.2020 03-01 Innsigelse 2020/00456 UT Oversendelse av innsigelse IN01P BRYN AARFLOT AS
 21.10.2020 02-17 Innsigelse 2020/00456 UT OP1175NO00 Innsigelse mot NO344522
21.10.2020 02-16 Innsigelse 2020/00456 UT D16 Polar News (2013)
21.10.2020 02-15 Innsigelse 2020/00456 UT D15 Fishmaster_productsheet
21.10.2020 02-14 Innsigelse 2020/00456 UT D11 SIMRAD ITI Data sheet
21.10.2020 02-13 Innsigelse 2020/00456 UT D10 Rapp News 1_1994
21.10.2020 02-12 Innsigelse 2020/00456 UT D9EN Translation of JPH01250876A
21.10.2020 02-11 Innsigelse 2020/00456 UT D9 JPH01250876A_Original_document
21.10.2020 02-10 Innsigelse 2020/00456 UT D7 JPS63304186A_Original_document
21.10.2020 02-09 Innsigelse 2020/00456 UT D7 EN Translation of JPS63304186A
21.10.2020 02-08 Innsigelse 2020/00456 UT D6 JPS60155987A
21.10.2020 02-07 Innsigelse 2020/00456 UT D5 JPS5937416A
21.10.2020 02-06 Innsigelse 2020/00456 UT D4 NO331304B1
21.10.2020 02-05 Innsigelse 2020/00456 UT D3 NO120174B
21.10.2020 02-04 Innsigelse 2020/00456 UT D2 NO334751B1
21.10.2020 02-03 Innsigelse 2020/00456 UT D1 JP2005046034A_Original_document
21.10.2020 02-02 Innsigelse 2020/00456 UT D1 EN Translation of JP 2005-46034 A
21.10.2020 02-01 Innsigelse 2020/00456 UT Oversendelse av innsigelse IN01P BRYN AARFLOT AS
 20.10.2020 01-21 Innsigelse 2020/00456 INN OP1175NO00_Fullmakt_signert ONSAGERS AS
 20.10.2020 01-20 Innsigelse 2020/00456 INN OP1175NO00 Innsigelse mot NO344522 ONSAGERS AS
20.10.2020 01-19 Innsigelse 2020/00456 INN D16 Polar News (2013) ONSAGERS AS
20.10.2020 01-18 Innsigelse 2020/00456 INN D15 Fishmaster_productsheet ONSAGERS AS
20.10.2020 01-17 Innsigelse 2020/00456 INN D13 Fishmaster solution ONSAGERS AS
20.10.2020 01-16 Innsigelse 2020/00456 INN D12 SIMRAD ITI Manual ONSAGERS AS
20.10.2020 01-15 Innsigelse 2020/00456 INN D11 SIMRAD ITI Data sheet ONSAGERS AS
20.10.2020 01-14 Innsigelse 2020/00456 INN D10 Rapp News 1_1994 ONSAGERS AS
 20.10.2020 01-13 Innsigelse 2020/00456 INN D9EN Translation of JPH01250876A ONSAGERS AS
 20.10.2020 01-12 Innsigelse 2020/00456 INN D9 JPH01250876A_Original_document ONSAGERS AS
 20.10.2020 01-11 Innsigelse 2020/00456 INN D8 Reite 2006 ONSAGERS AS
 20.10.2020 01-10 Innsigelse 2020/00456 INN D7 JPS63304186A_Original_document ONSAGERS AS
 20.10.2020 01-09 Innsigelse 2020/00456 INN D7 EN Translation of JPS63304186A ONSAGERS AS
 20.10.2020 01-08 Innsigelse 2020/00456 INN D6 JPS60155987A ONSAGERS AS
 20.10.2020 01-07 Innsigelse 2020/00456 INN D5 JPS5937416A ONSAGERS AS
 20.10.2020 01-06 Innsigelse 2020/00456 INN D4 NO331304B1 ONSAGERS AS
 20.10.2020 01-05 Innsigelse 2020/00456 INN D3 NO120174B ONSAGERS AS
 20.10.2020 01-04 Innsigelse 2020/00456 INN D2 NO334751B1 ONSAGERS AS
 20.10.2020 01-03 Innsigelse 2020/00456 INN D1 JP2005046034A_Original_document ONSAGERS AS
 20.10.2020 01-02 Innsigelse 2020/00456 INN D1 EN Translation of JP 2005-46034 A ONSAGERS AS
 20.10.2020 01-01 Innsigelse 2020/00456 INN Nytt overprøvningskrav (OP) ONSAGERS AS
 30.04.2020 10-01 Saksbehandling 20180775 UT PT Varsel om betaling av første årsavgift (3317) (PT20180775)
27.01.2020 09-01 Saksbehandling 20180775 UT PT Registreringsbrev Nasjonal Patent (15) (PT20180775)
30.10.2019 08-01 Saksbehandling 20180775 UT PT Meddelelse om patent BRYN AARFLOT AS
 07.10.2019 02-01 Endring av fullmektig 2019/12269 UT GH Forespørsel BRYN AARFLOT AS
 03.10.2019 01-02 Endring av fullmektig 2019/12269 INN Fullmakt BRYN AARFLOT AS
 03.10.2019 01-01 Endring av fullmektig 2019/12269 INN Generell henvendelse BRYN AARFLOT AS
 30.07.2019 07-05 Saksbehandling 20180775 INN Hovedbrev PROTECTOR IP AS
 30.07.2019 07-04 Saksbehandling 20180775 INN Beskrivelse med sporing PROTECTOR IP AS
 30.07.2019 07-03 Saksbehandling 20180775 INN Krav PROTECTOR IP AS
 30.07.2019 07-02 Saksbehandling 20180775 INN Beskrivelse PROTECTOR IP AS
 30.07.2019 07-01 Saksbehandling 20180775 INN Korrespondanse (Hovedbrev inn) PROTECTOR IP AS
 10.05.2019 06-01 Saksbehandling 20180775 UT Realitet patent PROTECTOR IP AS
 29.01.2019 05-02 Saksbehandling 20180775 INN Hovedbrev PROTECTOR IP AS
 29.01.2019 05-01 Saksbehandling 20180775 INN Korrespondanse (Hovedbrev inn) PROTECTOR IP AS
 19.12.2018 04-02 Saksbehandling 20180775 UT PT_report 12:05:04
19.12.2018 04-01 Saksbehandling 20180775 UT Realitet patent PROTECTOR IP AS
 03.08.2018 03-02 Saksbehandling 20180775 INN Erklæring Søkers rett til oppfinnelse PROTECTOR IP AS
 03.08.2018 03-01 Saksbehandling 20180775 INN Korrespondanse (Hovedbrev inn) PROTECTOR IP AS
 07.06.2018 02-01 Saksbehandling 20180775 UT Formalia 1 PROTECTOR IP AS
 05.06.2018 01-06 Saksbehandling 20180775 INN Fullmakt PROTECTOR IP AS
 05.06.2018 01-05 Saksbehandling 20180775 INN Sammendrag PROTECTOR IP AS
 05.06.2018 01-04 Saksbehandling 20180775 INN Beskrivelse PROTECTOR IP AS
 05.06.2018 01-03 Saksbehandling 20180775 INN Krav PROTECTOR IP AS
 05.06.2018 01-02 Saksbehandling 20180775 INN Patenttegninger PROTECTOR IP AS
 05.06.2018 01-01 Saksbehandling 20180775 INN Søknadsskjema Patent PROTECTOR IP AS

Description, claims and drawings

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content. Description
DYNAMIC TRAWL STEERING SYSTEMThe present invention relates to a steering system for maneuvering a trawl, or multiple trawls, or other towed equipment behind a vessel to a target volume such as a school or a haze/veil of fish, shrimp or other target volumes, in an efficient manner.Known trawling systems are based on controlling a vessel where an operator measures the position of a target volume as well as the position of the trawl and steers the vessel in so as to move the trawl through the measured moving target volume. This is a complex operation and requires continuous monitoring of both trawl and target as well as environmental conditions such as wind and current. In addition, the trawl has to be controlled individually in order to maintain the wanted shape and orientation of the trawl and to avoid damage to the trawl. Other uses of sensors for monitoring fish and trawl positions are also discussed in NO331304, JP S5937416 and JP S60155987.Automatic systems have been suggested but are mainly aimed at controlling the vessel movements using traditional rudders, propulsion power and/or steerable propellers, and through this the following trawl, according to the target position. This is, however, still based on the vessel steering as the main means to steer the trawl, including frequent course and velocity adjustments which increases energy consumption and wear on the equipment. An example of such a system is discussed in Japanese patent application JP 2005046034 where the focus is on optimizing the trawl symmetry while using the vessel rudder and propulsion system to control the trawl movements. Norwegian patent NO334751 ais related to trawl symmetry while Norwegian patent NO120174 describes a now well known solution for locating a school of fish.It is an object of the present invention to provide a flexible and more efficient system, thus also reducing the fuel consumption, and hence reducing the environmental footprint. This is obtained as described in the accompanying claims. The present invention is based on the realization that the vessel is only one of several components in a system for reaching the target volume, as for example the movement of the vessel may diverge in one direction due to wind while current as well as the target movement may require another type of movement for the trawl.The system utilizes several steering methods, including the potential use of movements in three dimensions of the trawl by actively adjusting length and position of towing wires/leads, but also potentially actively using steerable doors, deflectors and/or weights, the system utilizes in addition the steering effects of the vessel movements by moving towing points at the stern of the vessel, and adjusting length of towing wires/leads, as discussed in Norwegian Patent Application NO20170593, the system utilizes in addition the potential use of traditional vessel steering using rudders and propulsion. The individual steering methods are individually known but the present invention provides a system utilizing them to provide an improved system.The present invention will be described more in detail below with reference to the accompanying drawings, illustrating the invention by way of examples.Figure 1 illustrates an overview of the system according to the invention.Figure 2 illustrates details of a trawl that may be used in the systemFigure 3 illustrates the structure of the system.Figure 4 illustrates the security margins relative to the trawl steeringFigure 1 illustrates a vessel 27 having a path of movement 27a while towing a trawl 28 to be moved in a path 28a toward a target volume 29 e.g. containing fish or shrimps. Depending on the environmental conditions such as drag, current and wind, the trawl path of movement 28a may differ from the vessel path 27a and the relationship between these paths may be complex.In addition there may be limitations to the freedom of maneuvering the vessel, and/or there might be limitations to the freedom of maneuvering the towed equipment due to other vessels, other fishing equipment and subsea topographical restrictions, these factors will potentially be taken into consideration when the system calculates the actual modus operandi from case to case ensuring the minimum use of energy, and thus increasing effectivity in the fisheries and reducing negative environmental impact.The vessel path 27a is determined by the sum of forces over time.• Vessel thrust vector is determined by the propeller thrust and rudder angle.• Vessel drag is determined by the sum of forces inflicted on the ship over time. This is determined by the shape and state of the hull, position of rudder and/or position and power of steerable propellers if being used.• Wire drag is determined by the sum of forces inflicted from the towed equipment such as a trawl over time.• Disturbance in the form of e.g surface current, waves and wind will affect the ship over time.The trawl path is determined by the sum of forces over time.• Trawl drag can be adjusted by changing the shape of the trawl by controlling doors, weights and wire tension and wire length. Trawl drag is also a result of trawl characteristics, filling of trawl and external disturbances like current.• Trawl movement sideways to the wire drag is determined by sum of sideways forces inflicted by wire drag, trawl doors, trawl weights, seabed topography and current. This can be adjusted by direct control of adjustable doors and weights.• Wire drag is determined by the sum of forces inflicted backwards from trawl drag, and forwards from the ship over time. Forward forces are controlled by throttle, pitch, rudder, and the point of attach of wire.Disturbance in the form of e.g sub surface current will also affect the trawl vector over time. The forces discussed above regarding control of both the trawl and vessel path by adjusting the tension and momentum of the wire drag from the trawl to the vessel is also discussed in Norwegian Patent Application NO20170593.The forces affecting the vessel and trawl provide a number of variables that may be measured and used to move the trawl along an optimal and efficient path toward the target area. In addition, realizing that the main purpose of the movement is not the vessel path 27a but finding the optimal trawl path 28a when considering both the speed and power consumption during the operation.Figure 2 illustrates an embodiment of a trawl having a number of sensors, where1-8 represents catch sensors, measuring the filling of trawl and thus the weight of the trawl.9,12 Measures trawl speed, pitch/roll, depth, distance to bottom, temperature and gives echogram of trawl.10,11 Measures the pitch/roll, depth, distance to bottom, temperature and gives echogram of trawl.14,17 Dual axis clump sensor, measuring distance to trawl door sensors.13,16, 18,15 represents door sensors measuring the distance between paired doors and thus the width of the trawl, as well as pitch, roll, depth and temperature.19-22 Catch sensor with echogram to provide detail information about the catch passing into the codend, in addition to distance to bottom, pitch/roll, depth and temperature.23-24 Trawl door sounder to provide rapid accurate distance to seabed, in addition to providing echogram to show catch passing underneath towards the trawl.All of these measurements may be included in the calculation of the optimal trawl path along with the measurements of the target position and position of the trawl relative to the target as well as the vessel.When a target volume is detected, e.g. using a sonar or echosounder system, the calculation means estimates an optimal path based on the following:1. The measured movement of the target volume.2. The signals from the trawl sensors providing the true position of the trawl in three dimensions.3. Signals form the trawl relating to symmetry, width, angle, doors, depth etc.4. Signals from the vessel positioning system, e.g. GPS and autopilot, regarding the true position and course of the vessel.5. Signal from the onboard radar and navigation system giving location, speed and course of surrounding vessels.6. Signal from the onboard navigation systems giving information about other fixed or floating fishing equipment.7. Signals from the onboard weather station regarding wind strength and direction.8. Signals form doppler log regarding current velocity and direction in several layers in the water column.9. Signals from the heave/pitch/roll sensors.10. Prediction signal from the mapping machine which, based on the above, estimates about the topography and sea bottom conditions, indicates if it allows a trawl tow over a certain area without risking damages.Based on these signals it is possible for the system to decide how the different alternatives may be used to steer the trawl in the optimal way toward the target volume. This may be performed dynamically depending on the movements of the target volume and how the trawl will meet it.This is illustrated in the system shown in figure 3 where a trawl pilot 30 with a trawl pilot control 31 receives a number of data 32 about the target volume fish school position, depth, size etc, as well as vessel parameters such as position, speed, rate of turn etc, current and wind data and other operational parameters. The trawl pilot 30 includes a route estimator 35 proposing a towed path 36, e.g. based on economical priorities and based on this may provide necessary commands 34 to the trawl controller 40 including a trawl control unit 36 for adjusting parameters like angle of attach, trawl shape and trawl position.These trawl movements are then achievedby proving suitable control signals 38 to the relevant steering means. This is done primarily by adjusting the weights and doors Ref Fig 1; 24 of the trawl 28 as is well known in the art. Secondarily to adjust trawl gallows and blocks and winches 25 on the vessel, and finally to sending signals 33 to the vessel 27 engaging changes to the rudder and propulsion power 26 on the vessel (ref Fig 3). In order to obtain this the trawl controller 40 may also utilize measured or known information 39 about wire tension, doors positions and the symmetry of the system in order to optimize the trawl control.The range of priority of above actions might vary in order to obtain the sum of actions ensuring the least use of energy and most effective route optimization. All of above while also taking into consideration the optimum shape of the complete trawl systems and the safest route regarding other vessels and other fishing equipment.In this operation there is also a feedback where the effects on the trawl movements are predicted by a trawl predictor 37 (ref Fig 3) in the trawl controller and fed back to the route estimator 35 so as to provide a continuous adjustment of the trawl being added to the estimation model and thus influencing the estimated trawl trajectory.In estimating the trawl trajectory some variations is allowed within an acceptable window of movements, so as to limited the need for fast and power consuming changes. This is illustrated in figure 4 where a safe envelop boundary 40 enclosing a safety margin is defined and within this an estimated boundary of controllability 41 of the trawl. As a safety precaution the operating boundary 40b is defined within this, wherein the route estimator and trawl control allows some variations in the trawl movements over a span of time 43. The acceptable window may thus be based on a model involving the following calculations:Calculate dynamic trawl system behaviorCalculate operating boundaryCalculate safety marginsCalculate trawl resistanceCalculate Angle of Attack of trawl systemCalculate effects of wind and current.This may be achieved based on different estimator models such as :«Trawl safety envelope» model defining the safe trajectory, e.g. avoiding sea bottom or other obstacles along the planned trajectory.«Disturbance model» including currents and other dynamic disturbances actively changing the real trajectory.«Trawl system dynamic model» describing the dynamic behaviour of the trawl during a operation.The real trawl movements should preferably be kept within the limits of these models while calculating the most efficient route and recommending means to achieve this route.The precise nature of the models and calculations used by the route estimator will depend on the different types of trawls and vessels as well as the measurements provided by related sensors and instruments, as well as environments conditions, e.g. variations in sea floor, depth, currents, trawl size, vessel maneuverability, and safe vessel routes avoiding dangerous or unwanted contacts with other vessels and other fishing equipment.To summarize the present invention thus relates to a trawl steering system comprising a sea vessel and a trawl system, the system including a measuring unit such as a sonar or echosounder system for detecting and monitoring the position and movements of a target volume in the sea where the target volume may be constituted by a school, veil or haze of fish or shrimps to be caught in the trawl. The vessel also includes means for monitoring the position of the trawl relative to said target volume. The system comprising sampling means for sampling information including wind, current, and vessel and trawl characteristics and a route estimator for estimating the optimal route or path of the trawl. The system also comprises a trawl controller for adjusting vessel and trawl parameters so as to provide a movement for the trawl toward the target volume along said optimal path thus increasing the catch and reducing the bunker consumption and associated environmental impact.The control means may include a vessel control unit calculating the vessel movements necessary to steer the trawl along the estimated route toward the target volume. The trawl may also comprise steering means that may be adapted to move the trawl relative to the vessel so as to move toward the target area, wherein the steering means may include doors, deflectors or weigths positioned at the trawl for adjusting the position in the lateral and/or vertical direction relative to said path along said trajectory.The route estimator may include interfaces for receiving measurements from the environment, e.g. wind or current, measurements from the vessel and the trawl, as well as the measured movement of the target area and to calculate the trawl trajectory based on said measurements.The system may also include a navigation unit monitoring the global position of the vessel, the system being adapted to measure the position of the target volume and the trawl relative to the vessel.The system might also include signals from one or several radar units onboard the vessel, and/or other navigational systems giving information about fixed or floating fishing equipment to be avoided.The steering means may include interactive use of moving the trawl towing points on the vessel laterally and/or vertically, and in addition possibly also by adjusting length of towing wires.The system may also comprise automation systems, hardware and software systems, which might be based on artificial intelligence to provide an hierarchical list of actions comprising a priority of navigational means such as to ensure safest trawl trajectory route using the least amount of energy. This might be based on a priority list of a first step to maneuver the trawl relative to the vessel movements so as to move toward the target area and secondly to maneuver the vessel and trawl including interactive use of moving the trawl towing points on the vessel laterally and/or vertically, and in addition possibly also by adjusting length of towing wires, and thirdly to maneuver the vessel and trawl using rudder and propulsion power, or any combination of the above.
Claims
Claims1. Trawl steering system comprising a sea vessel and a trawl system, the system including a measuring unit for detecting and monitoring the position and movements of a target volume in the sea, the target volume constituted by a school, veil or haze of fish or shrimps to be caught in the trawl, and for monitoring the position of the trawl relative to said target volume, the system also comprising sampling means for sampling information including wind, current, and vessel and trawl characteristics and a route estimator for calculating an optimal trawl path and controller means for adjusting vessel and trawl parameters so as to provide a movement for the trawl toward the target volume along said optimal path and thus increase the catch and reducing the bunker consumption and associated environmental impact.2. System according to claim 1, wherein the control means includes a vessel control unit calculating the vessel movements necessary to steer the trawl according to the estimated route toward the target volume, while avoiding any danger of collision or unwanted interface with other vessels and other fishing equipment.3. System according to claim 1, wherein the trawl comprises steering means adapted to move the trawl relative to the vessel movements so as to move toward the target area.4. System according to claim 3, wherein the steering means includes doors or deflectors positioned at the trawl for adjusting the position in the lateral direction relative to said path along said route.5. System according to claim 1, wherein said calculation means includes interfaces for receiving measurements from the environment, e.g. wind or current, measurements from the vessel and the trawl, as well as the measured movement of the target area and to calculate the trawl trajectory based on said measurements.6. System according to claim 1, comprising a navigation unit monitoring the global position of the vessel, the system being adapted to measure the position of the target volume and the trawl relative to the vessel.Krav1. System for styring av trål omfattende et sjøgående fartøy og et trålsystem, der systemet omfatter en måleenhet for deteksjon og overvåking av av posisjon og bevegelser for et målvolum i havet, der målvolumet utgjøres av en stim, slør eller dis av fisk eller reker som skal fanges i trålen, og for overvåking av posisjonen til trålen i forhold til målvolumet, der systemet også omfatter samplingsmidler for innhenting av informasjon om inklusive vind, strøm og fartøy og trålkarakteristika og en ruteestimator for å beregne en optimal trålbane og kontrollmidler for å justere fartøyets og trålens parametrer for å tilveiebringe en bevegelse for trålen mot målvolument langs den optimale banen og dermed øke fangsten og redusere bunkersforbruket og assosiert påvirkning av miljøet.2. System ifølge krav 1, der kontrollmidlene inkluderer en fartøykontrollenhet som beregner fartøyets bevegelser som er nødvendige for å styre trålen i forhold til den estimerte ruten mot målvolument, mens fare for kollisjon eller uønsket kontakty med andre fartøy eller fiskeutstyr unngås.3. System ifølge krav 1, der trålen omfatter styremidler innrettet til å bevege trålen i forhold til fartøyets bevegelser for derved å bevege seg mot målområdet.4. System ifølge krav 3, der styringsmidlene inkluderer grensnitt for dører eller deflektorer plassert ved trålen for justering av posisjonen i lateral retning i forhold til banen langs nevnte rute.5. System ifølge krav 1, der nevnte beregningsmidler inkluderer grensesnitt for mottak av målinger fra miljøet, for eksempel vind eller strøm, målinger fra fartøyet og trålen, i tillegg til den målte bevegelsern tiol målområdet og beregne trålbanen basert på nevnte målinger.6. System ifølge krav 1, omfattende en navigasjonsenhet som overvåker den globale posisjonen til fartøyet, der systemet er innrettet til å måle posisjonen til målvolumet og trålen i forhold til fartøyet.
Drawings

Priority

No priority

Patent classes

IPC classesA01K 73/02A01K 73/04A01K 79/00B63H 25/04G01S 15/96CPC classesA01K 73/02A01K 73/04A01K 79/00B63H 25/04G01S 15/96

Citations

JP 2005046034 A (A)NO 334751 B1 (B1)NO 120174 B (B)NO 331304 B1 (B1)JP S5937416 A (A)JP S60155987 A (A)

Applicants, owners and inventors

Owners
Remøy Sea Group AS
Rabbegjerdet 7 6091 FOSNAVÅG NO (HERØY (MØRE OG ROMSDAL) Municipality, Møre og Romsdal county)Org. number: 979760833Inventors
Jack E Remøy
Rabbegjerdet 7 6091 FOSNAVÅG NO (HERØY (MØRE OG ROMSDAL) Municipality, Møre og Romsdal county)

Agent

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Status history

Payment history

Oppositions and appeals

Appeal to Board of AppealsReceived: 11.04.2022 NIPO's case No.: 2022/00170Board of appeal casenumber: 22/00074Current status: Avgjort. Hevningskjennelse uten realitetsuttalelse
RequestorBRYN AARFLOT AS
BRYN AARFLOT AS

Org. number: 979993269

Name and address are automatically synchronized with the Brønnøysund Register Centre.

Open in The Brønnøysund Register Centre
 Stortingsgata 8 0161 OSLO NO
InnsigelseReceived: 20.10.2020 NIPO's case No.: 2020/00456Current status: Avvist. Høyere instans har hevet klagesaken
OpponentKongsberg Maritime CM AS Borgundvegen 340 6009 ÅLESUND NO
Opponent's agentONSAGERS AS Postboks 1813, Vika 0123 OSLO NO (OSLO Municipality, Oslo county)
Org. number: 934603729Reference: OP1175NO00

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