WO2025212059A1 - Véhicule de sauvetage sous-marin sans pilote - Google Patents

Véhicule de sauvetage sous-marin sans pilote

Info

Publication number
WO2025212059A1
WO2025212059A1 PCT/TR2024/051795 TR2024051795W WO2025212059A1 WO 2025212059 A1 WO2025212059 A1 WO 2025212059A1 TR 2024051795 W TR2024051795 W TR 2024051795W WO 2025212059 A1 WO2025212059 A1 WO 2025212059A1
Authority
WO
WIPO (PCT)
Prior art keywords
unmanned underwater
rescue vehicle
underwater rescue
vehicle
unmanned
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.)
Pending
Application number
PCT/TR2024/051795
Other languages
English (en)
Inventor
Ayhan OZSAHIN
Kaan OZSAHIN
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.)
TC Uskudar Universitesi
Original Assignee
TC Uskudar Universitesi
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 TC Uskudar Universitesi filed Critical TC Uskudar Universitesi
Priority to EP24873858.5A priority Critical patent/EP4649004A4/fr
Publication of WO2025212059A1 publication Critical patent/WO2025212059A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • 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
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • 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
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • the invention relates to an unmanned underwater vehicle designed for the transfer of survivors in maritime accidents from the damaged vessel to a rescue vessel or the shore.
  • the invention is an underwater robot designed for the benefit of civilization and to save lives.
  • a reconfigurable modular underwater control system will be designed to close the gap in the systems used within the scope of this project.
  • the modular system allows changes to be made in the electronic control system of the robot according to the task load (add-ons such as Robot arm, Sonar, Camera module).
  • This structure facilitates the detection of malfunctions in electronic systems and significantly reduces the cost of repair.
  • the modular structure will consist of 1 main control system and 3 sub-control systems. These cards are motherboard, communication card, regulation card, external peripherals card. With the combination of these cards, the basic system required for the control of the underwater vehicle is formed.
  • the invention describes an image recognition rescue system for a small underwater unmanned vehicle.
  • the small unmanned vehicle is equipped with a boat head, a main body part, a fin part, and a tail power cabin.
  • the fin part is arranged on the main body.
  • a front image recognition system is arranged in the unmanned boat head
  • a side image recognition system is arranged behind the unmanned boat head
  • a rear image recognition system arranged behind the side image recognition system.
  • a steering system is arranged behind the side image recognition system and in front of the fin part
  • a rescue system is arranged between the fin part and the tail power cabin.
  • the small unmanned vehicle prevents people from being harmed as a result of the water surface rescue being affected by the waves during the underwater approach of individuals who have fallen into the water and need to be rescued to the vehicle.
  • the invention belongs to the technical field of machinery and control, information technology, life sciences, energy and chemical industry, and particularly relates to an underwater rescue device integrating visual sense and force sense mechanical arms, which comprises a left catamaran and a right catamaran.
  • a spring buffer device and a hydraulic damping device are respectively arranged on the left side and the middle of the top of each catamaran.
  • unmanned salvage is more intelligent, a target object can be positioned in real time, force control over the target object can be completed in a self- adaptive mode, and the whole process from discovery to rescue can be completed by the mechanical arm autonomously.
  • the invention relates to an intelligent underwater lifesaving system which comprises an underwater robot, an unmanned aerial vehicle, a server and an intelligent bracelet.
  • the underwater robot comprises a main body, a human body supporting seat, a life-saving belt and a life-saving fish, a first turbine used for providing ascending and descending power in water is arranged on the main body, and a second turbine is used.
  • Assemblies for providing advancing, retreating and steering power in water are arranged at the tail of the main body.
  • the intelligent bracelet comprises a second microprocessor, and a heart rate sensor, a water pressure sensor, a third GPS module, a fourth wireless communication module and a fourth geomagnetic sensor which are respectively connected with the second microprocessor.
  • the lifesaving belt is used for winding a drowning person to lift the head of the person out of the water surface, and compared with manual rescue, the rescue efficiency is high, and practicability is good;
  • the server carries out real-time drowning detection by using images and physiological data provided by the smart bracelet, a drowning phenomenon is found as early as possible, and rescue is carried out in time.
  • the present invention relates to the unmanned underwater vehicle designed for the transfer of survivor from the damaged vessel to the rescue vessel or the shore in case of maritime accidents, which meets the above-mentioned requirements, eliminates all disadvantages, and provides some additional advantages.
  • the object of the invention is to ensure that rescue teams are prevented from being harmed during the rescue phase of the survivors, regardless of weather and sea conditions, thanks to the designed underwater vehicle.
  • the object of the invention is to provide a safer and more effective approach to the damaged vessel with better protection from the wave effect thanks to the underwater movement of the vehicle.
  • Another object of the invention is to increase the security level of the system by allowing the survivors to secure themselves to the network using carabiner-type apparatuses.
  • Another object of the invention is to assist survivors in staying afloat during transfer with the help of either the life jackets of the survivors or additional flotation aids attached to the net, thereby ensuring quick and safe transport of the survivors to the shore or the rescue vessel.
  • Figure-1 is the schematic overview of the unmanned underwater rescue vehicle
  • Figure-2 is the circuit diagram of the unmanned underwater rescue vehicle.
  • the unmanned underwater vehicle (10) of the invention designed for the transfer of survivors in maritime accidents from the damaged vessel to a rescue vessel or the shore is described only as an example for a better understanding of the subject and in a way that does not create any limiting effect.
  • the unmanned underwater rescue vehicle (10) shown in Figure-1 comprises a body (11) in which all the equipment is positioned; maneuvering fins (12) positioned on both sides of the body (11) to steer the unmanned underwater rescue vehicle (10) to the desired coordinates; a propeller (13) positioned at the rear of the body (11) to provide the acceleration required for the unmanned underwater rescue vehicle (10) to move over and through the sea; and a net (14) connected to the rear of the body (11) to transport the survivors from the accident site to a vessel or shore.
  • Said unmanned underwater rescue vehicle (10) preferably comprises two propellers (13). In order to prevent injuries to the survivors during the rescue, the outer part of said propellers (13) is covered with a cage.
  • Said unmanned underwater rescue vehicle (10) carries the net (14) to the accident zone and removes the survivors from danger by means of this net (14).
  • the survivors hold on to said net (14), climb on or attach themselves to the net (14) with a carabiner or similar apparatus, and are then carried to the rescue vessel or shore by the unmanned underwater rescue vehicle (10).
  • Said net (14) comprises a plurality of pontoons (15) filled with air to keep the survivors afloat on the water.
  • Said unmanned underwater rescue vehicle (10) is remotely controlled with wired and wireless control, and comprises powerful propellers (13) capable of diving underwater. Having two cage propellers (13) increases maneuverability and also prevents survivors from being injured during the rescue operation.
  • the rescue net (14) has air-filled plastic pontoons (15) to prevent it from sinking after survivors jump on top.
  • Said unmanned underwater rescue vehicle (10) approaches the danger zone in which the maritime accident has occurred from underwater.
  • the propellers (13) provide the required thrust, while the maneuvering fins (12) allow maneuvering in the up-down and right-left directions.
  • said unmanned underwater rescue vehicle (10) approaches the zone, it maneuvers with the maneuvering fins (12) and positions the net (14) within the reach of seafarers/survivors.
  • Seafarers/survivors attach themselves to the net (14) by jumping on the net (14) or swimming to the net (14).
  • the unmanned underwater rescue vehicle (10) moves again to move away from the danger zone. During this movement, the unmanned underwater rescue vehicle (10) can move underwater or on the surface.
  • the pontoons (15) in the net (14) ensure that the seafarers/survivors remain afloat on water during the rescue operation and prevent them from sinking.
  • the unmanned underwater rescue vehicle (10) of the invention shown in Figure-2 operates three different motors (port motor (B), starboard motor (A) and fin motor (F)), compressor (C), main integrator (E), antenna transceiver (H) and lights (port light (K), starboard light (L) and antenna light (J)) with the energy it receives from the power source (G).
  • the high-traction starboard motor (A) and port motor (B) ensure that the unmanned underwater rescue vehicle (10) remains maneuverable and also arrives at the scene quickly.
  • the starboard motor (A) and port motor (B) have cages made of metal around their propellers (13). The cages prevent seafarers/survivors, net ropes (14) and sea creatures from getting entangled in the propellers (13).
  • the compressor (C) allows it to take in or discharge water with the water-air tank (D), changing its density and allowing it to sink into the water when necessary.
  • Said water-air tank (D) acts as a compartment through which water can enter and exit, while having additional isolation to reduce the risk of water leakage and sensors to facilitate precise adjustment.
  • the antenna transceiver (H) allows the unmanned underwater rescue vehicle (10) to be controlled by remote control.
  • the antenna light (J) is connected in series to the antenna transceiver (H), facilitating the testing of whether the antenna is working or not.
  • the fin motor (F) facilitates the diving and surfacing of the unmanned underwater rescue vehicle (10) by adjusting the hydrodynamics of the unmanned underwater rescue vehicle (10) so that it can dive or surface.
  • the port light (K), starboard light (L) and nose light (I ) enable the position of the unmanned underwater rescue vehicle (10) to be recognized, and the position of the unmanned underwater rescue vehicle (10) is recognized during use at sea in compliance with the rules of the sea.
  • the lights are connected in series to the nearest motors of the unmanned underwater rescue vehicle (10) for easy fault detection. Any cable fault between the port motor (A), starboard motor (A), fin motor (F), and the main integration (E) will cause the port light (K), starboard light (L) and/or antenna light (J) on that line to stop functioning, thereby facilitating fault detection.
  • the codeable main integration (E) is the main system that contains the codes of the unmanned underwater rescue vehicle (10) and steers the unmanned underwater rescue vehicle (10) according to the remote control commands through the antenna. Inside, it contains appropriate sensors to identify the location and speed of the unmanned underwater rescue vehicle, a GPS for continuous location of the device, and a black box for situations such as being lost and suffering damage. From integration failures to various damage situations, the black box has signal emitting features that can be activated both remotely and activated automatically in case of emergency.
  • the unmanned underwater rescue vehicle (10) is propelled by two alternative (backup) remote control modules, wired and wireless.
  • an antenna light (J) is connected to the body (11) to locate the unmanned underwater rescue vehicle (10).
  • wedges made of rubber and similar materials are positioned around the body (11) to prevent damage to the unmanned underwater rescue vehicle (10) as a result of being hit by the vessel during approach.
  • the unmanned underwater rescue vehicle (10) comprises a safety rope for towing to the area where it is operated in case of malfunction and for easy retrieval from the water.
  • a deployable mechanism-equipped net apparatus is attached to the rear of the unmanned underwater rescue vehicle (10).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Emergency Lowering Means (AREA)

Abstract

La présente invention concerne un véhicule de sauvetage sous-marin sans pilote (10) conçu pour le transfert de survivants dans des accidents maritimes du navire endommagé à un navire de sauvetage ou au rivage. Le véhicule de sauvetage sous-marin sans pilote (10) de l'invention comprend un corps (11) dans lequel tous les équipements sont positionnés ; des ailettes de manœuvre (12) positionnées des deux côtés du corps (11) pour diriger le véhicule de sauvetage sous-marin sans pilote (10) vers les coordonnées souhaitées ; une hélice (13) positionnée à l'arrière du corps (11) pour fournir l'accélération requise pour que le véhicule de sauvetage sous-marin sans pilote (10) se déplace sur et en mer ; et un filet (14) relié à l'arrière du corps (11) pour transporter les survivants du site d'accident à un navire ou à un rivage.
PCT/TR2024/051795 2024-04-01 2024-12-26 Véhicule de sauvetage sous-marin sans pilote Pending WO2025212059A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP24873858.5A EP4649004A4 (fr) 2024-04-01 2024-12-26 Véhicule de sauvetage sous-marin sans pilote

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2024/004003 2024-04-01
TR2024/004003A TR2024004003A2 (tr) 2024-04-01 2024-04-01 İnsansiz sualti kurtarma araci

Publications (1)

Publication Number Publication Date
WO2025212059A1 true WO2025212059A1 (fr) 2025-10-09

Family

ID=97267864

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/TR2024/051795 Pending WO2025212059A1 (fr) 2024-04-01 2024-12-26 Véhicule de sauvetage sous-marin sans pilote

Country Status (2)

Country Link
TR (1) TR2024004003A2 (fr)
WO (1) WO2025212059A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106828838A (zh) * 2017-01-24 2017-06-13 哈尔滨工程大学 一种便携式流线型遥控水下机器人
CN212556731U (zh) * 2020-07-06 2021-02-19 浙江海洋大学 一种水下救生的机械人装置
TR202103697A2 (tr) 2021-02-28 2021-06-21 Mert Can Tomakin Deni̇z alti can kurtaran
CN114212218A (zh) * 2021-12-23 2022-03-22 航宇救生装备有限公司 一种海上空投救生舱
CN114735165A (zh) 2022-03-08 2022-07-12 三峡大学 智能水下救生系统及溺水检测、救援方法
CN114771772A (zh) 2022-03-28 2022-07-22 广东海洋大学 融合视觉与力觉机械臂的水下打捞装置
CN116142422A (zh) 2022-08-26 2023-05-23 龙岩学院 一种水下小型无人艇的图像识别救援系统
CN117141682A (zh) 2023-09-12 2023-12-01 西安交通大学 一种海上救援无人潜航器

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106828838A (zh) * 2017-01-24 2017-06-13 哈尔滨工程大学 一种便携式流线型遥控水下机器人
CN212556731U (zh) * 2020-07-06 2021-02-19 浙江海洋大学 一种水下救生的机械人装置
TR202103697A2 (tr) 2021-02-28 2021-06-21 Mert Can Tomakin Deni̇z alti can kurtaran
CN114212218A (zh) * 2021-12-23 2022-03-22 航宇救生装备有限公司 一种海上空投救生舱
CN114735165A (zh) 2022-03-08 2022-07-12 三峡大学 智能水下救生系统及溺水检测、救援方法
CN114771772A (zh) 2022-03-28 2022-07-22 广东海洋大学 融合视觉与力觉机械臂的水下打捞装置
CN116142422A (zh) 2022-08-26 2023-05-23 龙岩学院 一种水下小型无人艇的图像识别救援系统
CN117141682A (zh) 2023-09-12 2023-12-01 西安交通大学 一种海上救援无人潜航器

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Publication number Publication date
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