FR3075974B1 - Drone marin de surface et procede de caracterisation d'un milieu subaquatique mis en œuvre par un tel drone - Google Patents

Drone marin de surface et procede de caracterisation d'un milieu subaquatique mis en œuvre par un tel drone Download PDF

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Publication number
FR3075974B1
FR3075974B1 FR1763137A FR1763137A FR3075974B1 FR 3075974 B1 FR3075974 B1 FR 3075974B1 FR 1763137 A FR1763137 A FR 1763137A FR 1763137 A FR1763137 A FR 1763137A FR 3075974 B1 FR3075974 B1 FR 3075974B1
Authority
FR
France
Prior art keywords
drone
underwater environment
sonar
characterization
surface marine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1763137A
Other languages
English (en)
Other versions
FR3075974A1 (fr
Inventor
Christophe Corbieres
Maxence Rioblanc
Guillaume Matte
Frederic Mosca
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Exail SAS
Original Assignee
iXBlue SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1763137A priority Critical patent/FR3075974B1/fr
Application filed by iXBlue SAS filed Critical iXBlue SAS
Priority to AU2018389732A priority patent/AU2018389732A1/en
Priority to EP18842537.5A priority patent/EP3729129A1/fr
Priority to PCT/FR2018/053448 priority patent/WO2019122743A1/fr
Priority to CA3086865A priority patent/CA3086865A1/fr
Priority to US16/956,839 priority patent/US20200333787A1/en
Priority to JP2020533672A priority patent/JP2021506668A/ja
Publication of FR3075974A1 publication Critical patent/FR3075974A1/fr
Application granted granted Critical
Publication of FR3075974B1 publication Critical patent/FR3075974B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/96—Sonar systems specially adapted for specific applications for locating fish
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/524—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals
    • G01S7/5273—Extracting wanted echo signals using digital techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un drone marin (1) de surface comprenant : - un sonar (10) embarqué du type multifaisceaux, - un système de pilotage (41) du sonar configuré pour commander, pour une position donnée du drone, une pluralité d'émissions successives d'ondes sonores, le système de pilotage pilotant les émetteurs (12) du sonar de manière à faire varier les caractéristiques des ondes sonores émises, de l'une desdites émissions à la suivante, et - une unité d'acquisition (42) configurée pour déterminer, à partir de signaux d'écho acquis en réponse à ladite pluralité d'émissions, une image tridimensionnelle représentative du contenu d'un volume d'observation donné. L'invention concerne également un procédé de caractérisation d'un milieu subaquatique mis en œuvre par un tel drone.
FR1763137A 2017-12-22 2017-12-22 Drone marin de surface et procede de caracterisation d'un milieu subaquatique mis en œuvre par un tel drone Active FR3075974B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1763137A FR3075974B1 (fr) 2017-12-22 2017-12-22 Drone marin de surface et procede de caracterisation d'un milieu subaquatique mis en œuvre par un tel drone
EP18842537.5A EP3729129A1 (fr) 2017-12-22 2018-12-20 Drone marin de surface et procede de caracterisation d'un milieu subaquatique mis en ceuvre par un tel drone
PCT/FR2018/053448 WO2019122743A1 (fr) 2017-12-22 2018-12-20 Drone marin de surface et procédé de caractérisation d'un milieu subaquatique mis en œuvre par un tel drone
CA3086865A CA3086865A1 (fr) 2017-12-22 2018-12-20 Drone marin de surface et procede de caracterisation d'un milieu subaquatique mis en oeuvre par un tel drone
AU2018389732A AU2018389732A1 (en) 2017-12-22 2018-12-20 Marine surface drone and method for characterising an underwater environment implemented by such a drone
US16/956,839 US20200333787A1 (en) 2017-12-22 2018-12-20 Marine surface drone and method for characterising an underwater environment implemented by such a drone
JP2020533672A JP2021506668A (ja) 2017-12-22 2018-12-20 海洋面ドローン及びそのようなドローンによって実施される水中環境を特性化するための方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1763137 2017-12-22
FR1763137A FR3075974B1 (fr) 2017-12-22 2017-12-22 Drone marin de surface et procede de caracterisation d'un milieu subaquatique mis en œuvre par un tel drone

Publications (2)

Publication Number Publication Date
FR3075974A1 FR3075974A1 (fr) 2019-06-28
FR3075974B1 true FR3075974B1 (fr) 2019-12-27

Family

ID=62067634

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1763137A Active FR3075974B1 (fr) 2017-12-22 2017-12-22 Drone marin de surface et procede de caracterisation d'un milieu subaquatique mis en œuvre par un tel drone

Country Status (7)

Country Link
US (1) US20200333787A1 (fr)
EP (1) EP3729129A1 (fr)
JP (1) JP2021506668A (fr)
AU (1) AU2018389732A1 (fr)
CA (1) CA3086865A1 (fr)
FR (1) FR3075974B1 (fr)
WO (1) WO2019122743A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11105922B2 (en) 2018-02-28 2021-08-31 Navico Holding As Sonar transducer having geometric elements
US11047964B2 (en) 2018-02-28 2021-06-29 Navico Holding As Sonar transducer having geometric elements
US12560714B2 (en) * 2021-05-25 2026-02-24 Hydronalix, Inc. Unmanned aerial vehicle with underwater sonar scanning capability
FR3126505B1 (fr) 2021-09-02 2024-02-02 Eca Robotics Dispositif et procédé de détection et localisation d’objets immergés
CN115019207A (zh) * 2022-06-13 2022-09-06 林国义 一种基于多模态感测的陆海空探测定位方法
JP2024000773A (ja) * 2022-06-21 2024-01-09 パナソニックホールディングス株式会社 移動体及び移動制御方法
JP2024000767A (ja) * 2022-06-21 2024-01-09 パナソニックホールディングス株式会社 移動体及び移動制御方法
CN119485484B (zh) * 2025-01-10 2025-06-10 北京航空航天大学 基于Hardmard分组加密压缩的无人机蜂群测控通信系统
CN121106812A (zh) * 2025-09-09 2025-12-12 广东省水文局湛江水文分局 一种下潜测流无人机及测流方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6280577A (ja) * 1985-10-03 1987-04-14 Hitachi Zosen Corp 魚群探知方法
JPH11344566A (ja) * 1998-03-31 1999-12-14 Japan Radio Co Ltd 魚群探知機
JP3129749U (ja) * 2006-10-13 2007-03-08 古野電気株式会社 水中探知装置
US11624822B2 (en) * 2011-10-26 2023-04-11 Teledyne Flir, Llc Pilot display systems and methods
US9812118B2 (en) * 2014-07-15 2017-11-07 Garmin Switzerland Gmbh Marine multibeam sonar device
FR3026493B1 (fr) * 2014-09-26 2021-02-12 Centre Nat Rech Scient Procede et dispositif d'imagerie acoustique.
US9952595B2 (en) * 2016-03-01 2018-04-24 Brunswick Corporation Vessel maneuvering methods and systems

Also Published As

Publication number Publication date
EP3729129A1 (fr) 2020-10-28
WO2019122743A1 (fr) 2019-06-27
CA3086865A1 (fr) 2019-06-27
US20200333787A1 (en) 2020-10-22
JP2021506668A (ja) 2021-02-22
FR3075974A1 (fr) 2019-06-28
AU2018389732A1 (en) 2020-07-09

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