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1. (WO2018219975) COLLABORATIVE SYSTEM OF SUB-AQUATIC VEHICLES FOR FOLLOWING SUBMERGED LINEAR ELEMENTS AND METHOD IMPLEMENTING THIS SYSTEM

Pub. No.:    WO/2018/219975    International Application No.:    PCT/EP2018/064119
Publication Date: Fri Dec 07 00:59:59 CET 2018 International Filing Date: Wed May 30 01:59:59 CEST 2018
IPC: B63G 8/00
G01C 21/00
G01N 27/82
G01S 5/00
H04B 13/02
Applicants: KOPADIA
Inventors: RICHER DE FORGES, Hervé
GROUSSET, Thierry
Title: COLLABORATIVE SYSTEM OF SUB-AQUATIC VEHICLES FOR FOLLOWING SUBMERGED LINEAR ELEMENTS AND METHOD IMPLEMENTING THIS SYSTEM
Abstract:
The present invention relates to a collaborative system of sub-aquatic vehicles (10) able to follow a submerged linear element (1, 33) capable of varying or of producing a magnetic field, comprising at least a first sub-aquatic vehicle (13, 37, 38, 39) intended for following the position of the linear element (1, 33), a second sub-aquatic vehicle (11, 35) comprising at least a first system able to indicate its position and at least a first means (28) of measuring said magnetic field able to indicate a first angle (26) measured between the vertical and a first direction (30) of said magnetic field, a third sub-aquatic vehicle (12, 36) comprising at least a second system able to indicate its position and at least a second means (29) of measuring said magnetic field able to indicate a second angle (27) measured between the vertical and a second direction (31) of said magnetic field, the first sub-aquatic vehicle (13, 37, 38, 39) being situated vertically or to the rear of the second and third sub-aquatic vehicles (11, 35, 12, 36), at least one of said sub-aquatic vehicles (13, 37, 38, 39, 11, 12) comprising a means of calculating said position of said linear element (1, 33) and the first sub-aquatic vehicle (13, 37, 38, 39) being able to use the position of said linear element (1, 33) in order to follow it.