Equipment for assistance in underwater exploration and subsea robot for the equipment.

[0001] la equipment for assistance in underwater exploration and a robot deep sea exploration for said asset.

[0002] in the field of underwater archeology, plungers to-archaeologists the adjusting scan bottoms under water, especially bycicle. These missions Underwater is typically done in difficult conditions, due especially stresses due to the limited duration of dives, to the underwater environment and the presence of sediment at the bottom of the seas.

[0003] to assist or even replace a plunger, robots archaeologists were developed. A robot named "[...]" has particularly been developed by telecommunications devices. The robot is equipped with a three-finger hand object handling fragile without breaking them. The robot hand is controlled from a command post above water, which displays images of the hand taken by onboard cameras. By viewing these images, a driver can remotely control the actions of the hand by means of a joystick.

[0004] la present invention proposes to further improve the situation.

[0005] a this effect, the invention relates to equipment for assistance in underwater exploration, comprising a robot and an underwater remote driving device of the robot, adapted to communicate with each other, wherein

The robot includes•moving means and an underwater device for capturing images;

•piloting device comprises viewing glasses 3d adapted for a user wearing glasses views the underwater environment of the robot in three dimensions from the images captured by the robot and guide means moving at a distance of the robot from the underwater environment in three dimensional electronic -

furtherEuropean viewed.

[0006] by using the invention, the images captured by the robot, or pilotless aircraft, in-situ ([...] to say the site of submarine exploration) creating and displaying or viewing an underwater environment in virtual three dimensional, representative of the underwater environment real three-dimensional of the robot. The control device is provided for guiding the robot in an actual environment by a guide in this three-dimensional virtual environment, i.e. from the three-dimensional environment viewed. The movements of the robot are thus effectively controlled remotely.

[0007] advantageously, the eyeglasses are adapted to guide the robot by the head movements of the user wearing the spectacles. The guidance of the robot is therefore effected a movement of a body part, in the case in point the head, according to the perception that the user wearing NVG 3d has environmental 3d created.

[0008] in a first embodiment, the spectacles are to be worn by a user above water. in a second embodiment, the eyeglasses are integrated into a dive mask and to be worn by a user diver in the water.

[0010] according to one example embodiment, the robot includes a nozzle for propelling a stream of pressurized water for cleaning an area.

[0011] as a result, the robot is capable of work plowing instead of a head tube archaeologist.

[0012] advantageously, the robot includes a suction tube deposits, especially sediments, released by the water jet.

[0013] advantageously still, the suction tube is concentrically disposed around the nozzle drive.

[0014] le robot may include a drain tube deposits aspirated, e.g. having a length of at least 5m, particularly a length between 5 and 10m.

[0015] advantageously, the robot has a discharge tube deposits sucked.

[0016] in a particular embodiment, the discharge tube has a length of at least 5 meters, especially a length between 5 and 10m.

[0017] advantageously, the evacuation tube is provided with at least one filter for retrieving object fragments. advantageously still, the robot is provided with at least one adjustable antenna with an illumination device.

[0019] le robot may include a housing having a front face and a rear face and an annular flank. The ring flank may carry a plurality of motors, for example four motors, rotating blades, such as blades orientable. These blades may be vertical blades (extending in length along the axis of the motor). The motors may be arranged symmetrically and angularly offset from each other of 90°.

[0020] le robot can also have a waterproof lid and removable, easy access to the elements in the enclosure.

[0021] in a particular embodiment, the robot is equipped with a screen to display images from the driver and/or images captured by the device for capturing images of the robot.

[0022] advantageously, the robot is provided with a ice sealingly mounted on one of the faces of the housing and behind which the screen is disposed.

[0023] l'invention also relates to a robot for equipment for assistance in submarine exploration submarine comprising

Moving means•underwater,

A capture device•images designed to capture images are adapted to provide an underwater environment in a three-dimensional view;

•a communication device for transmitting to a remote driving said captured images and for receiving commands displacement guide in the underwater environment created three-dimensional.

[0024] le robot may include some or all of the following additional characteristics:

- the robot has a nozzle for propelling a stream of pressurized water for disengaging deposits, especially sediments, an area to be cleaned;

- the suction tube is concentrically disposed around the nozzle propelling the robot has a discharge tube deposits sucked the evacuation tube has a length of at least 5 meters, especially a length between 5 and 10m;

- the discharge tube is provided with at least one matched filter to recover fragments of object;

- the robot is provided with at least one adjustable antenna with a lighting device comprising a housing having a front face, a rear face and an annular flank;

- the flank carries a plurality of engines, for example four motors, rotating blades, such as blades orientable;

- the four motors are disposed symmetrically and angularly offset from each other of 90 degrees;

the robot includes a lid removably sealing;

- the robot is equipped with a display for displaying images from the steering device and/or images captured by the imaging capture device;

- the robot is provided with a ice sealingly mounted on one of the faces of the housing and behind which the screen is disposed.

[0025] l'invention will be better understood with the aid of the following description of a particular embodiment of the equipment for assistance in exploration device according to the invention, with reference to the accompanying drawings on which

Figure 1 represents schematically the equipment for assistance in underwater exploration, according to a particular embodiment of the invention;

Figure 2 represents schematically a robot submarine equipment of fig. 1;

The fig.. 3a is a front view of a robot deep sea exploration equipment of fig. 1;

The fig.. 3b is a rear view of the fig. of the robot. 2;

Figure 4 represents a three dimensional view, front face side, of the robot.

[0026]FIG. 1, there is shown a schematic equipment for assistance in underwater exploration, according to one example embodiment of the invention. The equipment includes an undersea robot 1 2 and a device for remote monitoring of the robot 1.1 the robot 2 and the driver are adapted to communicate with each other. In the example described herein, they communicate using wire, by means of a cable computer communication.

[0027] the various elements of the robot are represented schematically in fig. 2. fig. the on. 3a and 3b are respectively a front view and rear view of the robot 1, according to a first exemplary embodiment. Figure 4 represents a perspective view of the robot 1, according to a second example embodiment, differing from that of fig.. 3a and 3b essentially by esthetic features. Elements identical or corresponding shown in different drawings bear the same references.

[0028] le undersea robot 1, or jet recording apparatus, comprises a housing 3, moving means 4 submarine, a capture device 5, a communication module 6, and a central control unit 11.

[0029] in the particular embodiment described herein, the casing 3 comprises two front faces 30 and 31 connected by a rear flank 32. The front face 30 here comprises a window (not shown in the Figure. 2) transparent material and of circular shape, sealingly mounted in a housing 33 formed in the housing 3. the housing 33 is formed by an annular flange of the housing 3, recessed from the plane of the front surface 30. The rear face 31 34 includes a cap removably and sealingly. The cover 34 is here of circular shape (e.g. same shape as that of ice 30). It is sealed in a housing similar to housing 33, formed in the rear face of the housing 3. it is removably secured by screwing, by means of a plurality of screws arranged on the circumference of the cover 34. The screws are evenly distributed. In the example embodiment as shown in the Figure. 3, the cover 34 is secured by means of eight screws angularly offset from each other by an angle of 45°. The cover 34 may be removed, when the robot is above water, in order to access the elements contained within the housing 3. the flank 32 comprises a cylindrical annular part connected to the two front faces 30 and rear 31 by annular portions, curved outward, so as to join the annular portion of the cylindrical sidewall 32 to the leading faces 30 and rear 31.

[0030] the moving means 4 of the robot 1 comprise at least one drive motor, for rotating blades. The blades are here "vertical". In other words, they form an assembly such as a Voith-Schneider. The blades have an airfoil (e.g. generally rectangular shaped) to be driven in rotation about a motor axis, that extends a length along the axis of the motor. The rotational blades are angularly orientable here. As a result, they can play a role as a rudder to steer the robot moving. The number of blades by motor may be between 4 and 6. In the example described herein, the robot 1 includes four motors to vertical blades steerable 40a to verbs 40d disposed around the annular portion of the cylindrical sidewall 32. The four motors 40a to verbs 40d are distributed uniformly about the housing 3. they are angularly offset from each other by an angle of 90°. Each motor 40a and 40d is here a grid around 41a and 41d protection of the blades, for example of cylindrical shape. Further, the moving means 4 comprise a control module 42 to control the operation of the motors 40a to verbs 40d and their blades. The control module 42 is for receiving guidance commands from the remote control device 2, as will be comprehended farther. Could however be used motors of any type, including any type of propeller motor.

[0031] le imaging capture device 5 here comprises two cameras 3d, 5a and 5b referenced, arranged within the housing 3, at right of through openings 35a, 35b formed in the bottom of the housing 33 of the front face 30. It is to capture images are adapted to provide an underwater environment in a three-dimensional view.

[0032] le communication module 6 of the robot 1 (not shown) is adapted to communicate with the control device 2, herein using wire, by a communication cable computer 26. It is integrated into the housing 3.

[0033] in the exemplary embodiment described herein, the robot 1 also includes a display screen 10. This is arranged front side 30, 33 in the housing, behind the ice, herein below the two openings 35a, 35b. It is for displaying images taken by the cameras 5a, 5b and/or images from the driver 2, as will be comprehended farther.

[0034] in an alternative embodiment, the screen 10 is touch-sensitive. In this case, the screen 10 is bonded to the inner face of the glass of the front face 30 of the robot 1 so that ice covers the screen 10. The ice is of a material adapted to enable use of the touch screen 10.

[0035] l ' screen 10 may be used to communicate with a plunger accompanying the robot 1. for example, a user of the driving device 2 could communicate with the plunger through the screen 10.

[0036] le the robot 1 can be equipped with lighting means 7 which comprise here two adjustable antennas 70a, 70b each having a lighting device 71 has, 71 b inhibitors, such as a headlight, for illuminating the seabed. The antennas 70a, 70b are adjustable in the sense that their shape and/or position thereof can be adjusted, herein manually. For example, the antennas 70a, 70b can be made of a material or structure shape memory. They enable a manually the projectors. The two spotlight antenna assemblies are mounted on a bar 72, in a circular arc shape. The bar 72 is secured for instance to the upper guard rings 41a and 41 b..

[0037] le the robot 1 is herein also provided with ballast elements, in the species two elements 8a, 8b (not shown in Figure. 4). These are carried by the flank 32, for example by the annular portion of the cylindrical sidewall 32. There are for example arranged between the upper motor 40a, 40b and the motors lower 40c, 40d.

[0038] le the robot 1 is here equipped with a clearing tool 9.9 clearing tool 90 has a nozzle for propelling a stream of pressurized water for disengaging deposits, especially sediments, an area to be cleaned. The nozzle 90 includes a tube having for example a length of about 30 cm. It is connected to a pump (not shown) located within the housing 3 and for delivering a jet of water at a pressure greater than 2 bar here. The pump is supplied with water through a water suction inlet, adapted to draw water when the robot 1 is immersed in water. The entrance is provided with a filter for preventing aspiration of debris or other material.

[0039] in the example described, the clearing tool 9 also includes a suction tube 91 for suctioning the deposits, especially sediments, released by the water jet. The suction tube 91 is connected to a pump (not shown) located within the housing 3. the tube 91 is concentrically disposed around the nozzle 90 of the water jet propulsion. It is connected to another tube (not shown) discharge, or riser, for discharging the water elements and the suctioned material (including sediment) farther. The discharge tube is preferably a flexible tube, flexible material, for example also behind the robot over a length of between 5 and 10 meters. It fact e.g. projection of the rear face 31 of the robot, in the bottom thereof, at right angles or substantially at right of the suction tube 91. The end of the evacuation tube may be provided with a filter for collecting small objects or object fragments for be sorted by archaeologists out of the water. The discharge tube is however optional. The discharge could be an opening, for example a rear of the housing, without riser.

[0040] l ' clearing tool 9 also includes a control module 92 to control the operation of the power nozzle 90 and 91 of the suction tube.

[0041] in the particular exemplary embodiment described herein, a wire rope are mechanically connected the robot to a surface vessel. One end of the cable is for example suspended to the bar 72 and the other end is secured to a member on the vessel, such as a reel for winding and unwinding the cable.

[0042] le the robot 1 is connected to the watercraft by two further cables: an electric cable supply low voltage current (25v most) computer and the communications cable. The three cables (cable connecting mechanical, electrical cable and communication cable) may be coaxial and form a single cable referenced 26 on Figure 1.

[0043] l ' CPU 11 robot controller 1 includes a microprocessor to which the following elements are connected: communication module 6, screen 10, control module 42 drive means moving 4, 7 lighting device, control module 92 of the clearing tool 9.

[0044] le 2 device for remote monitoring of the robot 1 is for example on the craft. It comprises a communication module 20, a pair of viewing glasses 3d 21, a display screen 22, a visualization module 3d 23, a module 24 spaced apart from the robot and a central control unit 25, in the species a processor.

[0045] le communication module 20 is adapted to communicate with the robot 1, herein using wire, computer communication by the cable. It is operable to receive data transmitted by the robot 1, especially images captured by the cameras 5a, 5b. It will also be transmitted to the robot 1 guidance commands to guide the robot 1 during its movements.

[0046]NVG3d are arranged such that a user wearing glasses displays on the screen 22 the underwater environment of the robot in three dimensions from the images captured by the robot 1 and transmitted to the control device 3d 23 2. the visualization module is for generating three-dimensional images and create an underwater environment in virtual three dimensional representative of the underwater environment real robot 1, from the images captured and transmitted by the robot 1 . 3d created virtual environment is displayed on the display 22.

[0047] en addition, the eyeglasses 3d are equipped with a detecting module of motion of the head of a user wearing the eyewear and a guiding module of the robot from the head movements detected.

[0048] le guiding module 24 here comprises an operating handle, connected to the central unit 25, and a driver or management driver the joystick for translating movements of the joystick into commands guidelines for the robot 1.

[0049] steering commands of the robot, which can be generated by the module guide 24 and/or by the 3d glasses, are intended to guide the movements of the robot in its real underwater environment. They are generated from the three-dimensional virtual environment created. For example, the movements of the head of the user wearing the spectacles 3d can guide the robot, while a user operated handle and forward, backward, up or down the robot 1. steering controls can control the orientation including rotating blades motors 40a and 40d.

[0050] on might integrate a display screen in NVG 3d (instead of or in addition to the screen 22 of the driving device 2). In this case, the eyeglasses are 3d virtual reality goggles. It is for example spectacle type "round window Valley". Further, the glasses could be integrated into a dive mask and be carried by a plunger to allow the latter to guide the movements of the robot 1 in-situ ([...] to say in water, on the site of submarine exploration).

[0051] on now describing the operation of the equipment for assistance in underwater exploration.

[0052] en operation, during an underwater exploration, the robot 1 is immersed in water and moves to a scan area, such as a wreck located at the bottom of the sea. It is connected to the watercraft by the cable 25.

[0053] le 1 captures images of the robot's environment using the cameras 5a, 5b. The images are transmitted to the control device 2 on the craft.

[0054] le driver 2 generates images 3d and creates an underwater environment in virtual three dimensional, representative of the real environment of the robot 1, from the images captured and transmitted by the robot 1.

[0055] le the robot 1 is guided in its movements by an operator located at the cockpit 2. the operator carries the eyeglasses 3d vision 21 and guide. It displays on the screen 22, in three dimensions, the underwater environment of the robot created from images captured by the robot.

[0056] a using the joystick and/or movements of the head, the operator guides the robot 1 in its movements. Guidance commands are transmitted by the cockpit 2 to the robot 1 which executes them. These commands are guide for guiding the robot 1 in an actual environment from a guide in the underwater environment in virtual three dimensional created and displayed on the screen 22.

[0057] while browsing, the robot 1 is positioned adjacent an area to be removed. At the operator's command, via the guide station, the robot 1 propels a stream of water under pressure on the area being excavated using the nozzle 90 and, concomitantly, draws at least partially sediment released using the concentric tube 91. The sediments and aspirated are rejected further through the exhaust tube.

[0058] in the example embodiment just described, the robot 1 is equipped with a tool having a nozzle clearing 90 propulsion of a water jet, a suction tube and a discharge tube 91. The robot 1 could be equipped with another tool deep sea exploration (cleaning tool, a gripper or gripping e.g. for gripping an object, a sampling tool for example for collecting samples of material to be analyzed, and so on).

[0059] the tools of the robot could be interchangeable. Each tool could be removably mounted on a common attachment site, or holder, of the robot.

[0060] a instead of a guide 3d, the robot could use a guide 2d, particularly from images captured by the robot 2d.

[0061] in the above description of a particular example embodiment of the invention, the robot 1 is connected to the watercraft by a mechanical cable, a data communication cable and a power supply cable, for providing respectively the physical link, the communication data transmission and power supply between the boat and/or the control device and the robot 1.2 variants, provision may be eliminated, or at least not to use, all or some of these cables.

[0062] according to a first alternative embodiment, the robot is not physically attached to the boat by a mechanical cable. In this case, the robot 1 is autonomous physically. Could however providing a cable physically connected to a plunger accompanying the robot 1 during the dive, to limit the risk of loss of the robot.

[0063] according to a second alternative embodiment, the robot is not connected to a power source located on the boat by a power supply cable. In this case, the robot integrates a power supply battery. This battery is advantageously a rechargeable, for example from a power supply terminal. This charge port may be located on the vessel and/or onshore.

[0064] according to a third alternative embodiment, the robot is not connected to the control device 2 by a data transmission cable. In this case, the robot integrates a wireless communication module adapted to communicate with a corresponding module of the control device.

[0065] according to a fourth alternative embodiment, the robot does not communicate with the control device 2 while diving. In this case, the robot is not connected to the control device 2 by a data transmission cable and is not integrating module for wireless communication with the control device 2. the robot can integrate data storage memory means, for example an internal memory for subsequent data transfer and/or a removable memory card data storage. The communication module of the robot is therefore optional. Note that, in this case, the guiding of the robot, in particular the orientation the blades drive motors, could be controlled by a feedback loop control module executed by an autonomous robot.

[0066] all or some of the various embodiments which have just been described may be combined.

[0067] d ' generally, the robot can integrate memory means data storage (e.g. internal memory for subsequent data transfer or a removable memory card data storage).

[0068] once out of the water, the robot may be stored in a receiving station. It may include a housing adapted to receive the robot. A reel, around which the cable of the robot are intended to be wound, may also be provided. The receiving station can be mounted on a transportation pallet. The housing may advantageously be arranged in the interior of the retractor. The receiving station may also include a movable platen, for example a slidable tray, robot support. The tray can be movable between a first closed position or storage, in which the robot is placed in its recess, and a second open position or output, in which the robot can be moved out of the receiving station.