WO2024242599A1 - Agencement d'accostage de véhicule sous-marin sans équipage - Google Patents

Agencement d'accostage de véhicule sous-marin sans équipage Download PDF

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Publication number
WO2024242599A1
WO2024242599A1 PCT/SE2023/051279 SE2023051279W WO2024242599A1 WO 2024242599 A1 WO2024242599 A1 WO 2024242599A1 SE 2023051279 W SE2023051279 W SE 2023051279W WO 2024242599 A1 WO2024242599 A1 WO 2024242599A1
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WO
WIPO (PCT)
Prior art keywords
arrangement
wind power
power plant
uuv
sensor
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.)
Ceased
Application number
PCT/SE2023/051279
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English (en)
Inventor
Markus Norström
Jonas Sandstedt
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.)
Elevated Launch AB
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Elevated Launch AB
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
Application filed by Elevated Launch AB filed Critical Elevated Launch AB
Priority to EP23938646.9A priority Critical patent/EP4716801A1/fr
Publication of WO2024242599A1 publication Critical patent/WO2024242599A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/52—Wind-driven generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present disclosure relates to UUVs (Underwater Unmanned Vehicles), and in particular to UUV docking arrangements.
  • UUVs Underwater Unmanned Vehicles
  • unmanned underwater vehicles such as autonomous submarines of the type UUVs are well-known, and can play an important part in protecting such vulnerable critical infrastructure on the seabed as well as monitoring territorial borders, maritime- and underwater activity of different sorts.
  • UUV's are launched from a vessel, which is both costly and time consuming to dispatch.
  • UUVs can be accommodated such that an early deployment is enabled when necessary and making it possible to maintain a reliable and efficient charging.
  • An early interception provides early confirmation of hostile activity and also enables quick countermeasures.
  • the wind power plant arrangement comprises an unmanned underwater vehicle, UUV, docking arrangement that is adapted to accommodate at least one remotely controlled UUV and comprises an electrical charging connection.
  • the electrical charging connection is adapted to electrically connect and charge a re-chargeable battery arrangement comprised in a UUV to an electrical power source comprised in the wind power plant arrangement via at least one power interface means.
  • the wind power plant arrangement further comprises at least one hydroacoustic sensor arrangement.
  • the wind power plant arrangement comprises at least one hydroacoustic sensor arrangement, for example a passive and/or active sonar, and/or a hydrophone, an efficient surveillance of the volume surrounding the wind power plant arrangement is enabled.
  • the wind power plant arrangement further comprises at least one UUV that is adapted to be housed in the UUV docking arrangement.
  • the UUV docking arrangement is positioned below, or at, sea level.
  • At least one UUV is a part of the wind power plant arrangement, such that the wind power plant arrangement can form a complete defense outpost and also carry out civil tasks.
  • the UUV can monitor the sea at an underwater position in a more or less soundless manner, for example using a passive sonar.
  • the UUV 140 can also be used for monitoring and defending the wind power plant arrangement 100 and associated equipment such as underwater power cables against attacks, sabotage and the like.
  • the wind power plant nacelle arrangement further comprises a radar arrangement adapted to detect target objects which are remote from the wind power plant nacelle arrangement.
  • suspected activity can be detected at the power plant nacelle arrangement, and if an UUV is within range, this can be dispatched for further investigation and/or interference.
  • Positioning the radar arrangement at the wind power plant nacelle arrangement provides an elevated position relative ground as well as existing supply of electric power.
  • the wind power plant arrangement further comprises a control unit arrangement adapted to control at least one of the UUV and a radar arrangement.
  • This provides a combined control of the UUV and the radar arrangement such that the UUV can be controlled in direct dependence of radar detections, which provides reliability and efficiency.
  • the wind power plant arrangement further comprises a communication unit that is adapted to communicate with a remote server and/or other communication units.
  • a communication unit that is adapted to communicate with a remote server and/or other communication units. This enables radar detections and UUV control commands to be handled remote from the wind power plant arrangement. This also enables an UUV to roam between different communication units in a cluster of wind power plant arrangements, enabling an UUV to dock at any suitable UUV docking arrangement, thus increasing range and versatility.
  • the wind power plant arrangement comprises a foundation, floating or standing on the sea floor, that at least partly is positioned below sea level.
  • the UUV docking arrangement is mounted to the foundation at or below sea level. This provides reliability.
  • At least one of the UUV, the UUV docking arrangement and the foundation comprises a hydroacoustic sensor arrangement.
  • the wind power plant arrangement comprises at least one hydroacoustic sensor arrangement that may be mounted to either the UUV, to the UUV docking arrangement or to the foundation, or to several of these in case of more than one hydroacoustic sensor arrangement.
  • the UUV is adapted to carry equipment, where the equipment comprises at least one of
  • IMU inertial measurement unit
  • GPS Global Positioning System
  • the UUV can carry many other sorts of suitable equipment.
  • the UUV can be made very versatile, and its starting position at a wind power plant arrangement makes the UUV a very efficient tool. This object is also achieved by means of defense systems and methods that are associated with the above advantages.
  • Figure 1 shows a schematic perspective front view of an upper part of a wind power plant arrangement with a radar arrangement
  • Figure 2 shows a schematic perspective front view of a wind power plant arrangement with UUV docking arrangements and a LJUV.
  • Figure 3 shows a schematic top view of a defense system
  • Figure 4A schematically illustrates a wind power plant arrangement
  • Figure 4B schematically illustrates an electrical power source
  • Figure 5 shows a schematic cut-open side view of a UUV in a UUV docking arrangement
  • Figure 6 shows a schematic top view of a rotatable equipment storage unit
  • Figure 7 schematically illustrates a control unit arrangement
  • Figure 8 schematically illustrates a computer program product
  • Figure 9 shows flowcharts illustrating methods according to the present disclosure.
  • Wind power is an increasingly popular way to generate electricity since it has a competitive cost and very small climate change effect compared to most other energy sources.
  • wind power is deployed in large scale, often close to the coastline or in off-shore wind energy parks, far out at sea, in order to get windy conditions.
  • the rapid deployment of wind power and other sources of electricity being phased out is one of the most important means to combat climate change and is forecasted to grow exponentially in the coming decades.
  • Today, wind power is however considered to disturb the ability to uphold a strong military defense.
  • a wind energy park reduces the visibility for existing radar systems, especially for items close to the ground or sea level like low flying objects and naval vessels. This could lead to late detection of incoming threats and has led to a conflict between defense interests and the interest to generate renewable energy and to reduce climate change, both being paramount goals of society.
  • Figure 1 shows a perspective view of an off-shore wind power plant arrangement 100 comprising a wind power plant nacelle arrangement 101 mounted to a wind power plant tower 102, the wind power plant nacelle arrangement 101 comprising wind turbine blades 105a, 105b, 105c.
  • Figure 2 shows a perspective view of the wind power plant nacelle arrangement 101 .
  • the present disclosure relates to the off-shore wind power plant arrangement 100 that comprises an unmanned underwater vehicle, UUV, docking arrangement 110a, 110b that is adapted to accommodate at least one remotely controlled UUV 140 and comprises an electrical charging connection 112, where the electrical charging connection 112 is adapted to electrically connect and charge a re-chargeable battery arrangement 141 comprised in a UUV 140 to an electrical power source 113 comprised in the wind power plant arrangement 100 via at least one power interface means 180, as shown in Figure 5.
  • the wind power plant arrangement 100 comprises at least one hydroacoustic sensor arrangement 190a, 190b, 190c.
  • the wind power plant arrangement 100 comprises at least one hydroacoustic sensor arrangement 190a, 190b, 190c, for example a passive and/or active sonar, and/or a hydrophone, an efficient surveillance of the volume surrounding the wind power plant arrangement 100 is enabled.
  • the electrical power source 113 that is comprised in the wind power plant arrangement 100 can be positioned at any suitable place in the wind power plant arrangement 100, the placement in the wind power plant tower 102 indicated in Figure 1 is only an example.
  • the electrical power source 113 can be constituted by one or more separate parts, for example a nacelle generator 114, possibly a power converter 115 and possibly also a re-chargeable power source 116 such as power plant battery 116. Keeping the power plant battery 116 charged ensures a reliable charging one or docked UUVs 140.
  • the wind power plant arrangement 100 further comprises at least one UUV 140 that is adapted to be housed in the UUV docking arrangement 110a, 110b, the U UV docking arrangement 110a, 110b being positioned below, or at, sea level 210.
  • At least one UUV 140 is a part of the wind power plant arrangement 100, such that the wind power plant arrangement 100 can form a complete defense outpost and also carry out civil tasks.
  • the UUV 140 can monitor the sea at an underwater position in a more or less soundless manner, for example using a passive sonar.
  • the UUV 140 may rise to the surface, the sea level 210, and communicate wirelessly from there. In this manner, less power is needed for communication, and less communication signals are released in the sea.
  • the wind power plant arrangement 100 comprises at least one corresponding radio beacon device 135, 136.
  • radio beacon devices 135, 136 By means of one or more radio beacon devices 135, 136, navigation is facilitated for the UUV 140, enabling homing and triangulation functions for the UUV 140. In this way, navigation is facilitated even in cloudy/muddy water.
  • a radio beacon device 135 may be positioned above sea level 210, and another radio beacon device 136 may be positioned below sea-level 210, and the wind power plant arrangement 100 comprises at least one of these radio beacon devices 135, 136.
  • the UUV 140 comprises an UUV communication unit 146 and an UUV control unit arrangement 147 as indicated in Figure 5.
  • the UUV control unit arrangement 147 is for example adapted to, at least partly, control internal systems, calculations and communication.
  • the UUV 140 can also be used for monitoring and defending the wind power plant arrangement 100 and associated equipment such as underwater power cables against attacks, sabotage and the like. Having a UUV 140 that is based off-shore is furthermore of high interest since there has been an increasing amount of vulnerable critical infrastructure on the seabed such as electrical cables, substations and communication cables, which must be safeguarded to uphold the basic functions in society. This calls for improved surveillance, monitoring and interference capabilities under water.
  • an UUV is any type of unmanned underwater vehicle, and can be any type of drone vehicle, including a Remote Operated Vehicle (ROV).
  • the UUV can be at least one of autonomous, adapted for wireless control and/or communication, and adapted for wired control and/or communication.
  • the UUV 140 can have propellers and/or jet motors, and has a range, speed and load capacity that depends on size, energy source and motor type.
  • the UUV 1 0 is arranged to collect and store sensor detections and images of different kinds, and to upload these when docked to the UUV docking station 110a, 110b.
  • the UUV docking station 110a, 110b is then connected to a communication connection 117 that connects the UUV docking station 110a, 110b to an appropriate receiving, and possibly transmitting, device at the foundation 220, at the tower 102 and/or at the wind power plant nacelle arrangement 101.
  • a connection 117 can for example be wired or wireless and is schematically indicated for the first type UUV docking station 110a.
  • the wind power plant arrangement 100 comprises a foundation 220, floating or standing on the sea floor, that at least partly is positioned below sea level 210.
  • the foundation 220 is shown floating, moored by means of a plurality of mooring cables 221 (only one referenced in Figure 2) in a previously well-known manner.
  • the foundation 220 can be positioned standing on the sea floor, mainly depending on the present sea depth.
  • FIG 2 two types of UUV docking arrangements 110a, 110b are shown; a first type UUV docking arrangement 110a and a second type UUV docking arrangement 110b.
  • the first type UUV docking arrangement 110a is not directly mounted to the foundation 220 but is floating at or below the sea level 210, but is electrically connected to the electrical power source 113 and is moored, for example to the foundation 220 or to the sea bottom in any suitable manner.
  • the first UUV docking arrangement 110a can for example be arranged to a floating means such as a small flatboat, barge, jetty or similar. This provides flexibility and uncomplicated deployment of the UUV docking arrangement 110a.
  • the second type UUV docking arrangement 110b is directly mounted to the foundation 220. This provides reliability. According to some aspects, at least one of the UUV 140, the UUV docking arrangement 110a, 110b and the foundation 220 comprises a hydroacoustic sensor arrangement 190a, 190b, 190c.
  • the wind power plant arrangement 100 comprises at least one hydroacoustic sensor arrangement 190a, 190b that may be mounted to either the UUV 140, to the UUV docking arrangement 110a, 110b or to the foundation 220, or to several of these in case of more than one hydroacoustic sensor arrangement 190a, 190b, 190c.
  • the foundation 220 and/or the docking arrangement 110a, 110b comprises a hydroacoustic sensor arrangement 190a, 190c
  • a hydroacoustic sensor arrangement 190a, 190b, 190c can for example be used to detect sounds from objects 350 ships and submarines, and sounds from underwater activity, for example due to frogmen 351.
  • the wind power plant nacelle arrangement 101 further comprises a radar arrangement 130 adapted to detect target objects 133, 350 which are remote from the wind power plant nacelle arrangement 101.
  • suspected activity can be detected at the wind power plant nacelle arrangement 101 , and if an UUV 140 is within range, this can be dispatched for further investigation and/or interference.
  • Positioning the radar arrangement 130 at the wind power plant nacelle arrangement 101 provides an elevated position relative ground as well as existing supply of electric power.
  • the radar arrangement 130 can be of any suitable type such as for example a Doppler radar that is adapted to transmit generated signals 131 and to receive reflected signals 132 that have been reflected by an object 133, 350.
  • the wind power plant arrangement 100 further comprises a control unit arrangement 120 adapted to control at least one of the UUV 140 and a radar arrangement 130.
  • This provides a combined control of the UUV 140 and the radar arrangement 130 such that the UUV 140 can be controlled in direct dependence of radar detections, which provides reliability and efficiency.
  • the control unit arrangement 120 can be comprised by one or more parts that may be separate.
  • the control unit arrangement 120 may comprise the UUV control unit arrangement 147, be adapted to control the UUV control unit arrangement 147 and/or be adapted to communicate the UUV control unit arrangement 147.
  • the control unit arrangement 120 is therefore only schematically indicated in Figure 1.
  • the wind power plant arrangement 100 may according to some aspects comprise an UCAV (unmanned combat aerial vehicle) docking arrangement (not shown) adapted to accommodate at least one remotely controlled UCAV 150 as indicated in Figure 2, the UCAV 150 comprising suitable sensor equipment as well as suitable weapons.
  • UCAV unmanned combat aerial vehicle
  • the UCAV 150 comprising suitable sensor equipment as well as suitable weapons.
  • aerial surveillance and defense is enabled as well and can be combined with the capabilities of an UUV 140 and a radar arrangement 130.
  • an UCAV can be used for deploying sensors, sonar buoys, communication buoys, etc., and being comprised in a communication network.
  • the wind power plant arrangement 100 further comprises a communication unit 121 that is adapted to communicate with a remote server 420 and/or other communication units, directly or indirectly, and with the UUV communication unit 146 comprised in the UUV 140.
  • a communication unit 121 that is adapted to communicate with a remote server 420 and/or other communication units, directly or indirectly, and with the UUV communication unit 146 comprised in the UUV 140.
  • the communication unit 121 is for example adapted for wired communication such as fiber, and/or wireless communication such as radio link communication.
  • the communication unit 121 can be comprised in a communication network according to the above.
  • the communication unit 121 may be arranged to communicate 410 with a cellular communication system 400.
  • This communication system may, e.g., be a third generation partnership program (3GPP) defined access network like the fourth generation (4G) or the fifth generation (5G) access networks.
  • the access network may provide access to remote networks and other resources such as, e.g., the Internet or other remote network 420.
  • processing functions may be performed by resources in a remote network 420, such as a remote server 430.
  • functions of the control unit 120 may be performed remotely on, e.g., the remote server 430.
  • the remote server is comprised in the wind power plant arrangement 100.
  • the UUV docking arrangement 110a, 110b further comprises an electrical charging connector 180, adapted to electrically connect a re-chargeable battery arrangement 141 comprised in a UUV 140 housed in the UUV docking arrangement 110a, 100b to an electrical power source 113 via the electrical charging connection 112.
  • the electrical charging connector 180 can for example use an indirect inductive connection or a direct connection, to a corresponding connector 181 comprised in the UUV 140, which corresponding connector 181 is connected to the re-chargeable battery arrangement 141.
  • the UUV 140 is adapted to carry equipment, where the equipment comprises at least one of
  • IMU inertial measurement unit
  • GPS Global Positioning System
  • the UUV 140 carries a manipulator device such as a manipulator arm with a gripping function.
  • a manipulator device such as a manipulator arm with a gripping function.
  • the UUV 140 can carry many other sorts of suitable equipment.
  • the UUV 140 can be made very versatile, and its starting position at a wind power plant arrangement 100 makes the UUV 140 a very efficient tool.
  • the UUV 140 is adapted to launch and/or guide one or more weapons 144, 145 towards a target object 133, 350.
  • Such guiding may for example be performed by means of a sonar or an underwater LIDAR device carried by the UUV 140.
  • the UUV 140 is adapted to releasably attach one or more pieces of equipment 143, 144, 145 stored at the wind power plant arrangement 100.
  • Said equipment can be any one of the pieces of equipment disclosed above, and of course any other suitable types of equipment.
  • the UUV 140 can launch a weapon and return to the wind power plant arrangement 100 to pick up another weapon to be launched.
  • the UUV can carry and replace other pieces of equipment, as exemplified above. Some equipment may be fixed to the UUV 140, other equipment may be exchangeable.
  • Exchangeable pieces of equipment 143, 144, 145 can be attached to the UUV 140 in many different ways, for example by means of electrical attachments activated by one or more electrical motors or by means of one or more electromagnets. Other types of attachment means are of course conceivable.
  • an UUV platform 111 comprised in the UUV docking arrangement, comprises a rotatable equipment storage unit 160 that comprises compartments with pieces of equipment 162.
  • a suitable piece of equipment can be positioned to be attached to the UUV 140 by means of a suitable attachment means, for example as described above.
  • the storage may be positioned at another place at the wind power plant arrangement 100, not necessarily at the UUV docking arrangement 110a, 110b, for example at the foundation 220.
  • the storage unit 160 is shown having an axis of rotation that essentially runs along a vertical extension. It is of course conceivable to have a standing storage unit that has an axis of rotation that essentially runs along a horizontal extension.
  • the wind power plant nacelle arrangement 101 comprises a missile launch platform 200, schematically indicated in Figure 1 , that in turn comprises a plurality of missile holding chambers. This enables missiles to be launched from an elevated position, offering defense for the wind power plant arrangement 100 itself, as well as for a territory.
  • a wind power plant arrangement 100 as a defense arrangement 100, being a host for one or more UUVs 140 and associated technical systems such as radars arrangements 130, wind power installations become strategic assets to the defense, offering permanent installations, with positions favorable for launch of UUVs as response to, and interception of, threats.
  • the co-location of wind power and UUV docking arrangements 110a, 110b and even UUVs 140 helps solving the conflict of interest and instead creates synergies both in function as well as in lowering the total cost for upholding the functions of military defense and electricity production. The total cost for upholding both functions is reduced by sharing the same establishment, physical constructions, communication, and utility systems.
  • the present disclosure also relates to a defense system 300 comprising a plurality of wind power plant arrangements 100 according to the above.
  • a plurality of wind power plant arrangements 100 are shown in a cluster 301 that forms the defense system 300, and according to some aspects this cluster 301 is positioned at sea, at a certain distance d from a shoreline 310.
  • the defense system also comprises at least one of said communication system 400, remote network 420, and remote server 430.
  • a radar arrangement 130 for example a radar arrangement 130 that is comprised in a wind power plant nacelle arrangement 101 is normally continuously monitoring incoming objects and feeding information to the control unit arrangement 120.
  • a radar arrangement 130 can be placed at one location and communicate with one or more UUV docking arrangements 110a ,110b at corresponding wind power plants 100 at a second location, remote from the first location.
  • a radar arrangement 130 can be comprised in a wind power plant nacelle arrangement of a wind power plant that either can be alone or comprised in a further cluster of two or more wind power plants. There can be several radar arrangements 130. In Figure 3, a radar arrangement 130 is shown remote from the defense system 300, and can for example be alone or be a part of another similar defense system. This is of course only an example.
  • This arrangement can be advantageous for example if it is desired to keep UUV docking arrangements 110a, 110b and UUVs within territorial waters e, where a state has full sovereignty, while using more geographically advanced areas as e.g. an exclusive economic zone f for radar arrangements 130. That would enable even earlier detection and interception, without breaking the widespread practice to not place fixed military equipment outside the territorial waters e.
  • the communication unit 121 is adapted to communicate with corresponding communication units 121 comprised in other wind power plant arrangements 100 in the cluster 301.
  • This communication can be direct from communication unit 121 to communication unit 121 , or via an intermediate arrangement such as the cellular communication system 400.
  • This means that roaming can be performed between those wind power plant arrangements 100 such that the LJUVs 140 can be guided in a more efficient manner.
  • an UUV can communicate with any wind power plant arrangement 100 and dock with any free UUV docking arrangement 110.
  • UUV docking arrangements 110 can be relayed via the communication units 121 of two or more wind power plant arrangements 100, such that a decision can be taken were a certain UUV 140 should dock. This increases the range for each UUV since any free UUV docking arrangement 110 can be used for re-charging.
  • each wind power plant arrangement 100 comprises at least one corresponding radio beacon device 135, 136, such that the cluster 301 comprises a plurality of radio beacon devices 135, 136.
  • the cluster 301 comprises a plurality of radio beacon devices 135, 136.
  • these radio beacon devices 135, 136 navigation is facilitated for the UUVs 140, and enable homing and triangulation functions for the UUVs 140. In this way, navigation is facilitated even in cloudy/muddy water.
  • a radio beacon device 135 may be positioned above sea level 210, and another radio beacon device 136 may be positioned below sea-level 210. At least one, and possibly more than two, of these radio beacon devices 135, 136, may be used for each wind power plant arrangements 100 in the plurality of the wind power plant arrangements 100.
  • the defense system may be adapted to provide cooperative positioning/cooperative navigation for the UUVs 141 such that the UUVs 140 cooperate in order to determine their respective position and movement with a higher degree of accuracy.
  • a confidence propagation model can be formed among for the UUVs, where factor graph and product criterion can be used to achieve cooperative positioning/cooperative navigation.
  • the UUVs are adapted to either communicate directly with each other or via the respective UUV communication units 146, or via the respective communication units 121 at the wind power plant arrangements 100.
  • a UUV 140 is adapted to communicate and co-operate with e.g. other UUVs in a cluster 301 , other marine or submarine vessels over e.g., long wave or acoustic communication systems, seabed sensors, pre-set weapons, surface buoys, submerged buoys, satellites etc.
  • the present disclosure also relates to a defense system 300 comprising a plurality of wind power plant arrangements 100 as described herein.
  • the control unit arrangement 120 can according to some aspects be adjacent or remote and be adapted to support a combination of automated decision and manual decisions.
  • Military tasks include surveillance tasks, and the UUV 140 is controlled to bring suitable equipment for the specific tasks, examples of different types of equipment having been provided above.
  • the present disclosure also relates to a method at a wind power plant arrangement 100 as described herein.
  • the method comprises scanning S100 for underwater activity, maritime activity and/or objects using sensor detections, including sound detections, using at least one hydroacoustic sensor arrangement comprised in at least one wind power plant arrangement 100 and determining S200 if at least one underwater sensor detection requires further investigation.
  • the determining may for example be performed by using a sensor device such as a sonar, camera etc.
  • Maritime activity includes vessels moving on the water surface such as boats and ships. If further investigation is required, the method further comprises launching S300 at least one UUV 140 with guidance of the sensor detection.
  • the method comprises equipping the UUV 140 with appropriate equipment before launching S300 the UUV 140.
  • the method further comprises identifying S400 an object and/or activity associated with the sensor detection, and determining S500 if the object 133, 350 and/or activity requires further action. If that is the case, the method further comprises reporting S600 the object 133, 350 and/or activity to a remote server 430.
  • the method further comprises manipulating S700 the object using a manipulator device.
  • the method further comprises launching S800 and/or guiding one or more weapons 144, 145 towards the object 133, 350 and/or activity.
  • Processing circuitry 125 is provided using any combination of one or more of a suitable central processing unit CPU, multiprocessor, microcontroller, digital signal processor DSP, etc., capable of executing software instructions stored in a computer program product, e.g., in the form of a storage medium 126.
  • the processing circuitry 125 may further be provided as at least one application specific integrated circuit ASIC, or field programmable gate array FPGA.
  • the processing circuitry thus comprises a plurality of digital logic components.
  • the processing circuitry 125 is configured to cause the control unit arrangement 120 to perform a set of operations, or steps to control the operation of the wind power plant nacelle arrangement 100 including, but not being limited to, at least one of controlling at least one UUV 140, the UUV docking arrangement 110, the radar arrangement 130, the missile launch platform 200 and other components of the wind power plant arrangement.
  • the storage medium 126 may store the set of operations
  • the processing circuitry 125 may be configured to retrieve the set of operations from the storage medium 126 to cause the control unit arrangement 120 to perform the set of operations.
  • the set of operations may be provided as a set of executable instructions.
  • the processing circuitry 125 is thereby arranged to execute methods as herein disclosed.
  • the storage medium 126 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory.
  • control unit arrangement 120 further comprises an interface 127 for communications with at least one external device such as a control panel or an external device, for example the UUV 1 0 and its components, such as for example the UUV control unit arrangement 147, preferably via the UUV communication unit 146, the UUV docking arrangement 110, the radar system 130, components of the missile launch platform 200 and other components of the wind power plant nacelle arrangement 101.
  • the interface may be adapted to communicate with the communication unit 121 , and may even be at least partly comprised in the communication unit 121.
  • the interface 127 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of ports for wireline communication.
  • the interface 127 can be adapted for communication with other devices, such as a server, a personal computer or smartphone, the charging station, and/or other robotic working tools.
  • wireless communication devices are Bluetooth®, WiFi® (IEEE802.11 b), Global System Mobile (GSM) and LTE (Long Term Evolution), to name a few.
  • Figure 8 shows a computer program product 800 comprising computer executable instructions 810 stored on media 820 to execute any of the methods disclosed herein.
  • a full integration of the software necessary to control at least one of the UUV 140, the UUV docking arrangement 110, the radar arrangement 130, the missile launch platform 200, and other components of the wind power plant arrangement 10 is advantageous.
  • the civil personnel in normal operation for energy generation, the civil personnel have only access to the civil parts of the installation to prevent misuse and/or accidents.
  • military equipment 110, 130, 140, 200 needs to be used, military authorized personnel can access the system and their control shall overrule any commands from civil personnel.
  • the UUV may additionally be adapted to perform non-military tasks such as inspecting the wind power plant arrangement 100, suitable the foundation 220 and the mooring cables 221 , perform rescue missions, survey missions, general information collection, etc.
  • control unit arrangement 120 is adapted to control the UUV 140 in an autonomous manner, such that the UUV 140 is dispatched automatically when determined necessary, for example in view of radar or sonar detections. Only when deemed necessary, an operator is informed.
  • a machine-learning model may be implemented, for example by means of an algorithm based on convolutional neural networks (CNN). Such a machine-learning model can for example be taught to classify different objects, and to determine appropriate actions.
  • CNN convolutional neural networks

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Wind Motors (AREA)

Abstract

La présente invention concerne un agencement de centrale éolienne en mer (100) comprenant une tour de centrale éolienne (102) et un agencement de nacelle de centrale éolienne (101). L'agencement de centrale éolienne (100) comprend un agencement d'accostage de véhicule sous-marin sans équipage (UUV) (110a, 110b) qui est conçu pour recevoir au moins un UUV commandé à distance (140) et comprend un raccordement de charge électrique (112). La connexion de charge électrique (112) est conçue pour connecter électriquement et charger un agencement de batterie rechargeable (141) compris dans un UUV (140) à une source d'alimentation électrique (113) comprise dans l'agencement de centrale éolienne (100) par l'intermédiaire d'au moins un moyen électrique d'interface (180). En outre, l'agencement de centrale éolienne (100) comprend au moins un agencement de capteur hydroacoustique (190a, 190b, 190c).
PCT/SE2023/051279 2023-05-22 2023-12-18 Agencement d'accostage de véhicule sous-marin sans équipage Ceased WO2024242599A1 (fr)

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EP23938646.9A EP4716801A1 (fr) 2023-05-22 2023-12-18 Agencement d'accostage de véhicule sous-marin sans équipage

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SE2330230A SE545961C2 (en) 2023-05-22 2023-05-22 An underwater unmanned vehicle docking arrangement
SE2330230-0 2023-05-22

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10315135A1 (de) * 2003-04-03 2004-10-21 Bernd Zielke Offshore-Anlage, insbesondere eine Windkraftanlage
US20190128711A1 (en) * 2017-11-02 2019-05-02 Thayermahan, Inc. Continuous unmanned airborne and underwater monitoring platform
US20210039756A1 (en) * 2018-03-08 2021-02-11 Etme: Peppas Kai Synergates E.E. Floating platform for maritime surveillance

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10315135A1 (de) * 2003-04-03 2004-10-21 Bernd Zielke Offshore-Anlage, insbesondere eine Windkraftanlage
US20190128711A1 (en) * 2017-11-02 2019-05-02 Thayermahan, Inc. Continuous unmanned airborne and underwater monitoring platform
US20210039756A1 (en) * 2018-03-08 2021-02-11 Etme: Peppas Kai Synergates E.E. Floating platform for maritime surveillance

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SE545961C2 (en) 2024-03-26
EP4716801A1 (fr) 2026-04-01

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