Key information

Title
System and method for underwater surveillance
Application number
20190136
Case type
National
Status
17.06.2021 P.g.a. manglende svar. Søker har ikke begjært gjenopptakelse
Filed
01.02.2019
Effective date
01.02.2019
Publicly available
03.08.2020
Applicant
Birdview AS (NO)
Inventor
Pouyan Shariffiasl (NO)
Agent
ONSAGERS AS (NO)

Abstract and drawing

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content.
A system and method for under water operation comprising an Unmanned Aerial Vehicle (UAV) in communication with a control centre characterized in that the UAV has an Autonomous Underwater Vehicle (AUV) releasably attached to it.

Publications

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 Date Doc. No. Process Case number In/Out Journal description To/from
 28.10.2024 02-01 Endring av fullmektig 2024/15252 UT GH Forespørsel ACAPO AS
 23.10.2024 01-02 Endring av fullmektig 2024/15252 INN POA Norway ACAPO AS
 23.10.2024 01-01 Endring av fullmektig 2024/15252 INN Generell henvendelse ACAPO AS
 10.11.2021 18-01 Saksbehandling 20190136 UT Endelig Henleggelse ONSAGERS AS
 28.09.2021 17-01 Saksbehandling 20190136 UT Henlagt manglede svar ENG ONSAGERS AS
 15.04.2021 16-02 Saksbehandling 20190136 INN P26462NO00 Term extension request ONSAGERS AS
 15.04.2021 16-01 Saksbehandling 20190136 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 16.02.2021 15-02 Saksbehandling 20190136 INN P26462NO00 Term extension request ONSAGERS AS
 16.02.2021 15-01 Saksbehandling 20190136 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 17.11.2020 14-01 Saksbehandling 20190136 UT Substantive examination ONSAGERS AS
 27.02.2020 13-03 Saksbehandling 20190136 INN Hovedbrev ONSAGERS AS
 27.02.2020 13-02 Saksbehandling 20190136 INN Beskrivelse ONSAGERS AS
 27.02.2020 13-01 Saksbehandling 20190136 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 13.02.2020 12-03 Saksbehandling 20190136 INN Hovedbrev ONSAGERS AS
 13.02.2020 12-02 Saksbehandling 20190136 INN Korrespondanse til Patentstyret (PS-002) (52) 924699 ONSAGERS AS
 13.02.2020 12-01 Saksbehandling 20190136 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 10.02.2020 11-02 Saksbehandling 20190136 INN Hovedbrev ONSAGERS AS
 10.02.2020 11-01 Saksbehandling 20190136 UT Generelt engelsk brev ONSAGERS AS
 10.02.2020 11-01 Saksbehandling 20190136 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 07.02.2020 09-02 Saksbehandling 20190136 UT PT20190136_Priority
07.02.2020 09-01 Saksbehandling 20190136 UT Brev prioritetsdokument ONSAGERS AS
 06.02.2020 10-01 Saksbehandling 20190136 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 29.08.2019 08-02 Saksbehandling 20190136 UT PT_report 12:25:08
29.08.2019 08-01 Saksbehandling 20190136 UT Realitet patent ONSAGERS AS
 25.04.2019 07-03 Saksbehandling 20190136 INN Erklæring Søkers rett til oppfinnelse ONSAGERS AS
 25.04.2019 07-02 Saksbehandling 20190136 INN Fullmakt ONSAGERS AS
 25.04.2019 07-01 Saksbehandling 20190136 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 26.03.2019 06-01 Saksbehandling 20190136 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 26.03.2019 05-01 Saksbehandling 20190136 UT Generelt brev Patent uten frist ONSAGERS AS
 04.03.2019 04-03 Saksbehandling 20190136 INN Hovedbrev ONSAGERS AS
 04.03.2019 04-02 Saksbehandling 20190136 INN Erklæring Søkers rett til oppfinnelse ONSAGERS AS
 04.03.2019 04-01 Saksbehandling 20190136 INN Korrespondanse (Hovedbrev inn) ONSAGERS AS
 05.02.2019 03-01 Saksbehandling 20190136 UT Formal Examination 1 ONSAGERS AS
 05.02.2019 02-01 Saksbehandling 20190136 UT Infobrev til oppfinner ONSAGERS AS
 01.02.2019 01-03 Saksbehandling 20190136 INN Beskrivelse ONSAGERS AS
 01.02.2019 01-02 Saksbehandling 20190136 INN Figures ONSAGERS AS
 01.02.2019 01-01 Saksbehandling 20190136 INN Søknadsskjema Patent ONSAGERS 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
Technical fieldThe present invention regards a system and method for underwater operations, and more particularly a system and method for underwater operations using an Unmanned Aerial Vehicle (UAV) with an Autonomous Underwater Vehicle (AUV) attached that can be released and retrieved by the UAV.Background of the inventionInspecting underwater installations using present day methods is not an easy task. A vessel is manoeuvred to an approximate location of the area that needs inspecting. The vessel releases a Remotely Operated Vehicle (ROV) that is guided by an operator towards the underwater installation needing inspection. The ROV is remotely operated via an umbilical cable attached to the surface vessel. After the inspection is finished the ROV is lifted to the surface again.An operation like this requires a lot of planning and is very costly since an entire vessel with a full crew is required in the operation. Further the operation is time consuming due to the travel time of the vessel in addition to the time used by the ROV on its mission.A further limitation of the operation is the limited range of the ROV since it is attached to the vessel with an umbilical cable. A further drawback of this solution is that it requires an entire vessel to control only one ROV.A subsea inspection is usually performed in several steps. The ROV is first released for an inspection of the area. The inspection can be done with a camera, but there can also be other instruments attached to the ROV if other techniques of inspection is needed than a direct visual inspection. After the inspection is finished, repair or work on the subsea installation can start. The ROV has a limited set of tools available at a time. If other equipment is needed than the ones attached to the ROV it must be raised and the tools changed before the work on the subsea installation can continue.An entire operation like this can last for several days if not longer. If any of these operations can be made easier the cost of inspection and repair of such underwater operations can be greatly reduced.Underwater inspections are not only limited to the civilian world, also the military needs subsea inspection and surveillance A modern military vessel uses mainly sonar (SOund Navigation And Ranging) to locate signs of an enemy. The most common type sonar used is an active type sonar which emits a sonic pulse and reads the reflection of the pulse as it bounces back of objects.Sonars are typically located on the main search vessels. A problem with this solution is that once a search vessel initiates use of its sonar, it gives away its own position.Another problem is that the range of the sonar is limited to a given area around the vessel itself. This makes it necessary for the vessel to travel vast distances in search for submarines, mines, ROV’s or other objects of interest of unknown location. Also having a heavy and expensive sound wave system for mapping the sea floor.So, the common problem with these types of operation is that they are very costly, due to the cost of the equipment, the cost of the crew, the cost of planning and the cost of the fuel used by the vessel.The application area of UAVs is quickly becoming wider and wider. UAVs are not only privately used any more, they are also used more and more commercially. The application areas are not only filming, but they can now be modified to carry equipment for inspection and surveillance both above and underneath the ocean surface. UAVs have even been developed that can go under water. However, the range of the UAVs that can be operated under the ocean surface is very limited and the time they can spend there are very short. Although the equipment attached to a UAV for subsea surveillance is only effective down to a certain level and cannot be used for detailed inspection.In US 20160376000 A1 it is described a UAV that is modified to operate under water. However, there is a problem with this solution since the UAV itself is not designed for underwater use, the speed of the UAV under water is very slow and the range of operation underneath the surface is very limited.In US 20110226174 A1 it is described a combined submersible vessel and unmanned aerial vehicle. This is a fixed wing solution that can go under water and uses a propeller for manoeuvring both in and out of the water. In addition, it has a water rocket for extra propulsion when exiting the water. Although this is a solution that presents a UAV with better working range under water and is more adapted to under water travel, it is a very complex system. It requires a ramp for launching the UAV and a complex rocket solution for exiting the water.As seen, the problems with subsea inspection is either a very limited range under water or a very costly and time-consuming operation. If any part of this operation can be made easier, not only a lot of time and money can be saved, but it will make it easier to inspection and survey a larger area for the military.Summary of the inventionIt is an objective of the present invention to solve the problems mentioned above. Said objective is fully or partly achieved by a system and a method according to the independent claims. Preferred embodiments are set forth in the dependent claims.To solve these problems, it is presented a UAV with a separate Autonomous Underwater Vehicle (AUV) attached to the UAV. The UAV can fly to the area of interest and release the AUV. The AUV can then do the intended surveillance operation and when finished, be picked up by the UAV. The AUV can be released either while the UAV is in flight or while the UAV is resting on the surface of the water. It is a further solution that the AUV can be released while the UAV is under water.The present invention regards a system and method for under water operation comprising an Unmanned Aerial Vehicle (UAV) in communication with a control centre wherein the UAV has an Autonomous Underwater Vehicle (AUV) releasably attached to it.A method according to claim 6 wherein the AUV can be released from the UAV either above sea level, at sea level or under sea level and the AUV can be retrieved by the UAV after the AUVs mission is completed.In a preferred embodiment of the present invention the AUV is attached to the UAV with a clamping solution. In this solution at least one pair of clamps with opposing grips holds the AUV in place while it is attached to the UAV. The clamp can lock around at least part of the body of the AUV.In an additional embodiment of the present invention the AUV can be attached to the UAV with an electro magnet. The electro magnet holds the AUV in place and when the AUV is to be released the magnet is turned off.It is a further solution that the AUV can be attached to the UAV with a hook attached to a winch and the AUV is lowered and/or lifted to/from the water surface.A person skilled in the art will understand that all or some of these techniques can be combined.Brief description of the drawingsFig. 1 is a side view drawing of UAVs launched from a vessel with a control centre. Fig. 2 is a side view drawing of a UAV with a AUV connected and a UAV and a AUV after it has been released.Fig. 3 is a side view drawing of an embodiment of the present invention wherein the AUV is dropped from the UAV above sea level.Fig. 4 is a side view drawing of an embodiment of the present invention wherein the AUV is released from the UAV at sea level.Fig. 5 is a side view drawing of an embodiment of the present invention wherein the AUV is released from the UAV under sea level.Fig. 6 is a side view drawing of an embodiment of the present invention wherein the AUV is winched down from the UAV from above sea level.Detailed descriptionThe present invention regards a system and method for detection, identification and verification of location and status of underwater objects or phenomenon of interest. The system, components and method described has onboard sensory, machine intelligence, navigation, communication, propulsion and actuation capabilities, which provides the system with capacity and capability to initiate and carry out select actions remotely controlled or autonomously. This invention could be used for detection, identification, and prolonged observation, inspection and tracking of select underwater or subsea activities or occurrences. The invention could have detection, identification and verification applications within marine-, underwater geology- oceanography, seabed mapping and other underwater scientific applications. The invention could see applications within the military underwater defence segment and within subsea Oil and Gas applications. Objects of interest could be: submarines, other underwater vehicles, mines and other underwater threats. It could also be used for detection, identification and verification of status of a subsea oil & gas operation event, or it could be an ideal tool for the detection, mapping (sub bottom profiling) identification and verification of a leaking subsea oil or gas installation.By extending the range of the sonar on a vessel, less time is used finding (mapping) objects of interest. This significantly improves the chances of detection and identification of foreign objects, and reduces cost, time and pollution caused by the vessel moving around large surface areas.The invention comprises the following system components: A combined aerial- and underwater UAV – the mother ship. This UAV can fly as a regular aerial UAV, it also has the capability to land and float on the water surfaceAttached to the dedicated underwater UAV are select removable sensors and actuators which may be attached to the underwater object of interest for prolonged observation/tracking. Equipment of interest that may be left are: camera, location tracker (a Pinger - in the case of a submarine or underwater mine), gas sensor, (in the case of a leaking subsea oil & gas installation), or other devices. In the case of a pipe line mapping, one scenario or opportunity could be for the underwater UAV to attach an explosive charge to the mine through magnetic or other attachment method, for safe and cost-effective elimination of subsea threats.Subsea, at the underwater object of interest, the sensors and actuators are securely attached. A location tracker/Pinger may be used to ease returning to target.Fig. 1 is a side view drawing of UAVs each carrying at least one AUV. The UAVs carrying the AUVs are launched from a central location. The central location can be either a vessel or a land-based location. The central location is a communication central. From this central location the UAVs can be controlled, and the information gathered by the UAVs and the AUVs is collected and interpreted here.The UAVs can be controlled via remote-control operated by an operator. Alternatively, the UAVs can be programmed to fly in predetermined patterns within designated areas relative to the central location. In yet another alternative the destination and the purpose of the mission can be programmed into the UAV and AUV before they are launched. This is a sort of fire and forget solution.In a preferred embodiment the UAVs and AUVs can be used to transmit, in real time, information gathered by the on-board instruments to a control centre located on the central location.The information can also be stored on board the UAV and downloaded to the control centre after it has returned to the vessel.Fig. 2 is a side view drawing of a UAV with a AUV connected and a UAV after the AUV has been released. Both the UAV and the AUV can be fitted with surveillance equipment and/or communication equipment and/or guidance (GPS) equipment. This allows for combined information gathering from both above and below the surface. Combined search above and below the surface. The gathered information can be stored in the UAV and the AUV and downloaded after they have returned to the control centre. Alternatively, the information gathered from the AUV can be sent to the UAV and stored there before it is downloaded after they return. In yet another alternative, the AUV can send the information to the UAV and the UAV can communicate the gathered information back to the control centre.In a preferred embodiment of the present invention both the UAV and the AUV can communicate the information in real time back to the control centre. In this embodiment the gathered information can be displayed in the control centre.Fig. 3 is a side view drawing of an embodiment of the present invention wherein the AUV is dropped from the UAV above sea level. This solution is useful if the weather is not suitable for the UAV to land on the water or to go underneath sea level. Conditions like this can be e.g. in strong winds or in big waves.A further benefit of this solution is that the AUV travels through the top of the water column without using any energy. This saves energy for both the UAV and the AUV.A preferred solution for attaching the AUV to the UAV in this embodiment is to use clamps. When the UAV is in place over the area of interest, the AUV is released and gravity pulls the AUV under water. When the AUV hits the water the motor on the AUV propels it to its required destination.After the AUV is finished it can return to the surface and be picked up by the UAV. If the UAV has not got enough energy to both pick up the AUV and return home the control centre, the AUV can be picked up by the support vessel or if possible, it can return to the support vessel on its own.Fig. 4 is a side view drawing of an embodiment of the present invention wherein the AUV is released from the UAV at sea level. This solution is preferable if the weather allows the UAV to land on the surface of the water and take off again. This is a preferred solution since it is gentler on the AUV and its onboard instruments then dropping it from a height.When the AUV is finished with its mission it returns to the surface. From there it is picked up by the UAV. There are several ways of attaching the AUV to the UAV. One method is to use at least one set of clamps that holds the AUV in place while it is attached to the UAV. This is also a method that makes it easy to release the AUV. Another solution is to use an electro magnet to hold the AUV in place. This is a solution that is easy to use both when picking the AUV up and releasing it. However, this is a heavy solution since an electromagnet strong enough to hold a AUV is quite big. Using only an electro magnet to hold the AUV is associated with a risk since the AUV can be shaken loose. However, by combining a clamping solution and an electromagnet makes is a preferred solution when picking up the AUV. The electro magnet can be used to attach the AUV to the UAV and the at least one clamp can be used to hold the AUV in place.Further it is possible to combine at least one of the clamps with a winching solution. This allows the UAV to raise and lower the AUV to release the AUV or pick it up after a mission.It is further possible to realise the combination of all three solutions. Wherein the AUV is connected to the UAV with the use of an electro magnet. Further the AUV is held in place by at least one clamping solution. In addition, the clamping solution can be attached to a winching device. This allows for the AUV to be released and picked up again after the mission is finished. The AUV is lowered to the surface of the water with the winching device combined with the clamping device. When the AUV has reached the water the clamping device opens and the AUV is released. After the mission is finished the AUV returns to the surface. The clamping device is lowered, and the electro magnet is turned on. When the magnet connects to the AUV, the clamping device closes around at least part of the body of the AUV. After the clamping device is closed the electro magnet can be shut off, and the winch can raise the clamping device and the AUV.A person skilled in the art will understand that other solutions can be used, and that any combination of the solutions presented here, and other solutions can be used to attach the AUV to the UAV.Fig. 5 is a side view drawing of an embodiment of the present invention wherein the AUV is released from the UAV under sea level.In this embodiment the UAV carrying the AUV is adapted to go under water before releasing the AUV. Once the underwater UAV has deployed its cargo, or otherwise completed its mission, it will propel itself back to a predetermined location at the water surface. Once the AUV is released from the UAV, the UAV may stay/float on the water surface or return to a nearby ship or installation.After the AUV has finished its mission it will be autonomously and automatically be recovered by the UAV. The UAV with the AUV will then lift off and fly back to base, radio controlled or autonomously.The AUV is equipped with a suitable sensor platform, and will perform the task of detection, mapping, identification and verification of location and status of the underwater objects or phenomenon of interest. Fig. 6 is a side view drawing of an embodiment of the present invention wherein the AUV is winched down from the UAV from above sea level.The clamping solution can be attached to a winching device. This allows for the AUV to be released and picked up again after the mission is finished. The AUV is lowered to the surface of the water with the winching device. When the AUV has reached the water the clamping device opens and the AUV is released. After the mission is finished the AUV returns to the surface. The clamping device is lowered, the clamping device closes around at least part of the body of the AUV. After the clamping device is closed and the winch can raise the clamping device and the AUV.
Claims
Claims1. A system for under water operation comprising an Unmanned Aerial Vehicle (UAV) in communication with a control centre c h a r a c t e r i z e d i n that the UAV has an Autonomous Underwater Vehicle (AUV) releasably attached to it.2. The system according to claim 1 wherein said AUV is attached to the UAV by at least a set of clamps.3. The system according to claim 1 wherein said AUV is attached to the UAV by at least one electro magnet.4. The system according any of the preceding claims wherein said AUV is attached to the UAV by using at least a set of clamps fitted with an electro magnet and the at least one set of clamps are attached to a winching device.5. The system according to claim 4 wherein said at least a set of clamps fitted with an electro magnet and attached to a winching device is used to retrieve the AUV.6. A method for under water operation comprising an Unmanned Aerial Vehicle (UAV) in communication with a control centre c h a r a c t e r i z e d i n that the UAV has an Autonomous Underwater Vehicle (AUV) releasably attached to it.7. The method according to claim 7 by attaching the AUV to the UAV with at least a set of clamps.8. The method according to claim 7 by attaching the AUV to the UAV with at least one electro magnet.9. The method according to claims 7 to 8 by attaching the AUV to the UAV by using at least a set of clamps fitted with an electro magnet and the at least one set of clamps are attached to a winching device.10. The method according to claim 7 wherein the AUV can be released from the UAV either above sea level, at sea level or under sea level.11. The method according to claim 7 wherein the AUV can be retrieved by the UAV after the AUVs mission is completed.
Drawings

Priority

No priority

Patent classes

IPC classesB63C 11/48B63G 8/00CPC classesB63C 11/48B64C 2201/00B63G 8/001B63G 2008/002B63G 2008/004B63G 2008/005

Citations

US 2018370604 A1 (A1)US 2018284575 A1 (A1)KR 20110108435 A (A)US 9969494 B1 (B1)US 2018107210 A1 (A1)WO 0168447 A2 (A2)

Applicants, owners and inventors

Applicants
Birdview AS
Olaf Helsets vei 5 0694 OSLO NO (OSLO Municipality, Oslo county)Org. number: 916188714Inventors
Pouyan Shariffiasl
Ileveien 7 D 1591 SPERREBOTN NO (VÅLER (ØSTFOLD) Municipality, Østfold county)

Agent

ONSAGERS AS
ONSAGERS AS

Org. number: 934603729

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Open in The Brønnøysund Register Centre
Postboks 1813, Vika 0123 OSLO NO (OSLO Municipality, Oslo county)
Org. number: 934603729
Reference: P26462NO00

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