• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
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  • 优先权
    • 专利摘要:
    autonomous underwater vehicle for the acquisition of geographic data The present invention has, as its first objective, an autonomous underwater vehicle equipped for the acquisition of gravimetric and magnetic gradients near the seabed, characterized by the fact that it comprises: - at least one gradiometer; - at least one magnetic gradiometer. in particular the aforementioned equipped autonomous underwater vehicle allows underwater explorations as deep as 3,000 meters. a second objective of the present invention relates to a method of analyzing the geophysical characteristics of the subsoil, which comprises the acquisition of gravimetric and magnetic gradients in an underwater environment characterized by the following phases: - use of an autonomous underwater vehicle equipped in accordance with the present invention; - immersion of said vehicle in the vicinity of the seabed; - navigation along a programmed route; - acquisition and storage of data collected by said gradiometers and said instruments with correlation with the geographical point of mediation; - recovery of collected data and use of them for geophysical analysis of the subsoil.
    公开号:BR112013009488B1
    申请号:R112013009488-5
    申请日:2011-10-24
    公开日:2021-09-08
    发明作者:Italiano Giori；Massimo Antonelli；Roberto Finotello
    申请人:Eni S.P.A.；
    IPC主号:
    专利说明:

    DESCRIPTION
    [001] The present invention refers to an autonomous underwater vehicle for the acquisition of geophysical data, equipped with instruments for the collection of said data on the seabed.
    [002] The analysis of the seabed allows useful information to be obtained about the composition and structure of the subsoil itself.
    [003] In particular, a correct assessment of some subsoil areas allows the identification of possible hydrocarbon deposits.
    [004] One of the analysis systems used is a magnetometric survey that explores the Earth's magnetism and is generally carried out over relatively large regions of the territory.
    [005] All variations in the magnetic field, which cannot be attributed to natural or artificial causes, are due to contrasts in magnetic susceptibility in the subsurface rocks. The rocks that provide these contrasts are mainly magmatic rocks that normally form the substrate on which sedimentary rocks lie.
    [006] Magnetometric surveys and those of the magnetic gradient allow to estimate the thickness of sedimentary rocks, detecting possible intrusions/volcanic effusions present in the subsoil.
    [007] Another underground analysis system is represented by gravimetric measurement that allows the monitoring of variations in gravity acceleration.
    [008] The gravimeter allows the measurement of the acceleration of gravity and, therefore, of the differences in mass of underground rocks, revealing variations in the density of lithologies located below the gravimeter, for example, a basalt layer has a greater gravimetric effect than a layer of salt, since its specific density is much higher than that of salt.
    [009] This measurement usually requires several corrections, as the gravity measurement is influenced by many factors, such as the topography of the area, for example, the latitude, tides and the level at which the measurement is taken.
    [0010] In order to obtain significant results and for the correct interpretation of the data, the instruments must have a very high level of sensitivity and accuracy, in the order of microGals (1 μGal = 10-8m/s2), that is, 10 -9g (gravity acceleration g = 9.80665 m/s2). At this level of sensitivity, spurious effects unrelated to the subsurface mass distribution, either due to topographical irregularities, such as anthropic surface artifacts, or temporary fluctuations in gravity from an astronomical origin (tides), may overlap with the useful signal, making detection complex.
    [0011] In addition to this phenomenon, there are instrumental deviations, whose effects become more significant with prolonged data collection.
    [0012] In order to overcome these difficulties, the gradiometric method was developed, where the data to be processed is a component of the g gradient tensor, determined as the difference between the values of g measured in relation to a fixed base distance.
    [0013] There are several methods and systems in the state of the art that use gravimetric and/or magnetometric analysis to acquire information about the subsoil.
    [0014] Patent WO 2006/020662, for example, describes a method of analyzing a geographical area using an aircraft suitably equipped with gravimetric instruments.
    [0015] In particular, according to this method, geophysical data relating to the area being examined are collected, geophysical parameters relating to the area under examination are calculated and a relationship between the collected data and those predicted is then defined.
    [0016] These geophysical data can be revealed with a gravimeter or gravimetric gradiometer, in order to analyze the surface density of the examined area.
    [0017] Especially in the hydrocarbon industry, the Total Tensor Gravity Gradiometer (FTG) system for offshore exploration developed by Bell Aerospace (now Lockheed Martin) is well known.
    [0018] Two examples of industrial application of FTG technology are Air-FTG® and Marine-FTG®.
    [0019] The first is an aerial gravimetric/gradiometric survey system, while the second is a marine system.
    [0020] Both systems provide information on the gravimetric gradient through a tensor analysis and a process of reducing disturbances caused by the means of transport and other external factors.
    [0021] Another example of an aerial gradiometric analysis system is the Falcon TM aerial gravity gradiometer (AGG) from the company BHP-Billiton, which, when flying over geographic areas, can measure changes in the Earth's gravity.
    [0022] In particular, the gradient measurement is obtained as the difference between the responses measured by two gradiometers. The data revealed with this system must then be purified from interference related to the means of air transport.
    [0023] The state of the art, however, has several limits associated with the quality of the measured gravimetric data; the data, in fact, are usually acquired by instruments positioned in the vicinity of the sea level, or even above the level itself, thus the measuring instrument is often far away from the measured object. The intensity of the gradiometric signal produced by a mass structure decreases with cubic distance, consequently gravity gradient detections relating to the seabed made by gravimetric gradiometers positioned near or above the sea surface suffer from distance in terms of signal accuracy .
    [0024] There is, therefore, ample scope for improving the quality and reliability of geophysical detections, especially if oriented towards research for new formations potentially suitable for the production of hydrocarbons.
    [0025] An additional technique known in the prior art is described in patent application US 2010/0153050, in which an AUV (Autonomous Underwater Vehicle) comprising a gravimetric sensor is used to search the gravity field near the seabed.
    [0026] In particular, this document describes a system provided with a gravity sensor comprising a motorized gimbal joint, a motion sensor mounted on the joint, a gravimetric sensor mounted on the joint and a container capable of containing the above components, installed inside an AUV.
    [0027] The use of a gravimeter on board an AUV to research the gravitational field, however, has several limitations.
    [0028] A gravimeter, in fact, is not able to separate the effects due to the acceleration of gravity from the effects due to the inertial accelerations of the underwater vehicle along the vertical component.
    [0029] A gravimetric gradiometer, on the contrary, when measuring the gravity gradient with two accelerometers, allows the inertial effects, common to the two instruments, to be nullified.
    [0030] The Applicant has now found a system and configured an apparatus suitable for measuring gravity and magnetometric data in the vicinity of the seabed, in order to obtain results that are qualitatively better than those obtained both at sea level and above. The resolution that can be obtained, in fact, from research carried out with sensors located at a limited distance from a potential object of research is greater, both in amplitude and frequency of anomalies, for both the gravitational and magnetic fields.
    [0031] Furthermore, in the prior art, there are no combined methods of measuring the gravimetric and magnetic gradient.
    [0032] A further objective of the present invention is to combine gravity gradient measurement with magnetic gradient measurement to obtain qualitatively better information in the seabed.
    [0033] The state of the art, however, does not describe methods of research and detection of gradiometric magnetic data and gravity, carried out with underwater transport means capable of reaching great depths.
    [0034] A first objective of the present invention, therefore, refers to an autonomous underwater vehicle equipped for the acquisition of gravimetric and magnetic gradients near the seabed, characterized in that it comprises: at least one gravimetric gradiometer; at least one magnetic gradiometer.
    [0035] According to a preferred embodiment of the present invention, said gravimetric gradiometer measures the vertical component Tzz of the gravimetric gradiometer.
    [0036] According to a preferred embodiment of the present invention, the gravimetric gradiometer used in the equipped autonomous underwater vehicle, comprises: a first spherical casing connected to the equipped autonomous underwater vehicle and capable of resisting high pressures; a second casing with dimensions smaller than the first casing and connected to it by means of a Cardan joint system; a third casing with dimensions smaller than the second casing and connected to it by means of a Cardan joint system that allows its oscillation inside the second casing, where said third casing is provided with a system of weights installed in the lower part; two accelerometers aligned along the vertical, situated at a distance of less than 60 cm from each other, preferably at a distance ranging from 10 to 40 cm, and constrained within the structure of the third casing.
    [0037] The use of a gravimetric gradiometer allows the effects due to the acceleration of the vehicle along the vertical component to be eliminated.
    [0038] Thanks to said system of Cardan joints of the second envelope, said Cardan joint and said system of weights of the third envelope, the accelerometers contained within the third envelope are always aligned in relation to the vertical of the site and at the same time aligned between themselves. Said joints therefore allow that the throwing, yaw and rolling movements of the equipped autonomous underwater vehicle are compensated.
    [0039] In particular, said gravimetric gradiometer comprises two accelerometers with a sensitivity of 1 µGal/VHz within a wide range of frequencies, preferably less than 10-1Hz and more preferably ranging from 10-4Hz to 10-2Hz.
    [0040] Said gravimetric gradiometer has a suspension system capable of maintaining the sensitive geometric axis of the two elements aligned along the vertical of the site, with the necessary precision to perform the gradiometric measurements within the measurement frequency band.
    [0041] In particular, said gravimetric gradiometer is positioned close to the barycenter of said autonomous underwater vehicle equipped to reduce disturbances on the instrument measurement.
    [0042] According to a preferred embodiment of the present invention, the magnetic gradiometer consists of at least two scalar magnetometers, preferably 3, intact with said vehicle and located inside and/or outside the vehicle body.
    [0043] According to a specific embodiment of the present invention, said scalar magnetometers are positioned at a suitable distance from each other, preferably ranging from 20 cm to 10 m, more preferably from 50 cm to 1.5 m.
    [0044] According to a specific embodiment of the present invention, said scalar magnetometers that form said magnetic gravimeter perform measurements of the magnetic field with an accuracy of up to 0.01 nT, preferably up to 0.1 nT (nT = 10- 9Tesla).
    [0045] Said scalar magnetometers preferably measure the magnetic field with Nuclear Magnetic Resonance technologies.
    [0046] It should be noted that said scalar magnetometer for the present invention is known in the state of the art and available to experts in the field without any additional burden in relation to the normal work routine.
    [0047] According to a specific embodiment of the present invention, said autonomous underwater vehicle equipped comprises: a frame; at least one propulsion system; at least one drive system; at least one feed system; at least one control system.
    [0048] According to a preferred embodiment of the present invention, said carcass gives high aerodynamic properties to said vehicle.
    [0049] In particular, said housing can be manufactured from aluminum or fiberglass, and has a total length ranging from 50 cm to 15 m, preferably ranging from 3 m to 10 m.
    [0050] According to a preferred embodiment of the present invention, said housing can be flooded inside to avoid excessive pressure loads.
    [0051] According to a specific preferred embodiment of the present invention, in order to improve the buoyancy of said vehicle, there are expandable polymeric foams within said housing, preferably obtained with the spray technique.
    [0052] According to a preferred embodiment of the present invention, said propulsion system comprises at least one propeller positioned preferably at the stern, capable of ensuring the necessary thrust for vehicle navigation.
    [0053] According to a preferred embodiment of the present invention, said drive system comprises at least one rudder, to steer said vehicle, and/or at least one stabilizer, to ensure stability along the routes of said vehicle.
    [0054] According to a preferred embodiment of the present invention, said power system comprises at least one battery, preferably a lithium battery, and/or a system for administering the battery(ies), capable of optimization and protection of the battery(ies) and also administration of the charging/discharging process.
    [0055] According to a preferred embodiment of the present invention, said power system has at least two batteries, at least one for powering the onboard electronics and at least one for powering the propulsion system and drive system.
    [0056] According to a preferred embodiment of the present invention, said control system may consist of an electronic processor capable of controlling the propulsion system and/or the drive system and/or the power system in addition to the instruments present at board of said equipped autonomous underwater vehicle.
    [0057] According to a preferred embodiment of the present invention, said control system can be programmable.
    [0058] According to a preferred embodiment of the present invention, said equipped autonomous underwater vehicle may comprise at least one of the following instruments:- a bathometer; - an echobathometer; - an obstacle detector; - a sonar; - a speedometer; - a methane sensor; - a thermometer.
    [0059] In particular, said bathometer allows to measure the depth at which said vehicle is situated, while said echobathometer allows to measure the distance between said vehicle and the seabed.
    [0060] In particular, said obstacle detector and said sonar allow the existence of obstacles to be verified during the progression of said vehicle.
    [0061] In a specific embodiment of the present invention, said speedometer can be of the DLV (Doppler Velocity Record) type.
    [0062] In particular, said methane sensor can detect possible presence of hydrocarbons near the seabed, which cannot be detected at sea level or above it.
    [0063] According to a preferred embodiment of the present invention, the data collected by the various instruments on board are kept in at least one electronic file present on board of said vehicle.
    [0064] In particular, said collected data can be transmitted by said vehicle to an external data collection base by means of at least one of the following means: - a radio or wireless communication system;- a cable;- a radio modem.
    [0065] In particular, said radio modem allows the transmission of said collected data from the bottom to the surface.
    [0066] According to a preferred embodiment of the present invention, said equipped underwater vehicle may contain a location system comprising at least one of the following instruments: - a GPS satellite system; - an optical transmitter; - a radio transmitter; - a acoustic transmitter;- a transponder.
    [0067] In particular, said optical transmitter, said radio transmitter and/or said acoustic transmitter allow the location of the vehicle in case of adverse weather conditions, such as, for example, fog or rough sea.
    [0068] In particular, the optical transmitter emits light signals, the radio transmitter radio signals and the acoustic transmitter sound signals.
    [0069] By responding to an interrogation signal from a support vessel, said transponder allows the vehicle to be located.
    [0070] An expert in the art is free to select the movement organs, the electromechanical devices, in addition to the materials of the aforementioned equipped underwater vehicle, in order to minimize its interferences on the instruments present on board the vehicle, especially minimizing the modifications in the magnetic and gravitational fields.
    [0071] It should be noted that these instruments are known in the art and available to experts in the field without any additional burden compared to normal work routine.
    [0072] It should be noted that said vehicle can independently reach the seabed or the predefined exploration level through instructions provided by said control system.
    [0073] In a preferred embodiment of the present invention, said equipped autonomous underwater vehicle allows underwater explorations at considerable depths, preferably as large as 3000 meters.
    [0074] In particular, said instruments and said systems may be contained in hermetic containers, resistant to high pressures, preferably up to 40 MPa, where said containers are positioned within said housing.
    [0075] In another embodiment of the present invention, said carcass of said vehicle is hermetic and impermeable to water inside, and is manufactured with characteristics and materials capable of resisting high pressures, preferably up to 40 MPa.
    [0076] In a preferred embodiment of the present invention, said equipped autonomous underwater vehicle may comprise an immersion/emergence system.
    [0077] In a preferred embodiment of the present invention, said immersion/emergence system consists of two electromechanical ballast release units, which allow the release of a first load of ballast as soon as the desired exploration level has been reached and the releasing a second ballast charge to allow said vehicle to emerge from the bottom.
    [0078] Said immersion/emergence system allows to avoid the use of the propulsion system by optimizing the operation of the feeding system.
    [0079] It should be noted that in order to optimize the energy savings of said vehicle, it can be transported to and from the exploration site by means of a small support ship, preferably equipped with a crane for release and recovery of the vehicle itself.
    [0080] Said equipped autonomous underwater vehicle allows detailed explorations with a regular and/or restricted search network, regardless of the depth of the explored location.
    [0081] Said properly programmed control system allows the vehicle to perform: - straight trajectories in a horizontal plane at a constant speed; - straight trajectories in space at a constant speed; - curved trajectories in a horizontal plane with a programmed radius of curvature ;- curved trajectories in space with a programmed radius of curvature.
    [0082] According to a preferred embodiment, said vehicle can be used to identify potential areas useful for oil exploration.
    [0083] According to another preferred embodiment, said vehicle can be used for monitoring mass variations related to the production and/or storage of hydrocarbons in underwater fields.
    [0084] A second objective of the present invention refers to a method of analysis of the geophysical characteristics of the subsoil, which comprises the acquisition of gravity and magnetic gradients in an underwater environment, characterized by the following phases: - use of an equipped autonomous underwater vehicle according to the present invention; - immersion of said vehicle in the vicinity of the seabed; - navigation along a programmed route; - acquisition and storage of data collected by said gradiometers and said instruments with correlation with the geographic point of measurement; - recovery of collected data and their use for subsoil geophysical analysis.
    [0085] According to an embodiment of the present method, said vehicle dives to an exploration depth that preferably varies from 20 to 150 meters from the seabed.
    [0086] According to a modality of the present method, said vehicle, during the acquisition phase, follows programmed routes with trajectories in the horizontal plane to avoid disturbances on instrumental measurements, in particular in said gradiometers.
    [0087] In a preferred embodiment of the present method, said collected data are retrieved from said vehicle through wireless connections or cable connections, to be analyzed and combined, and to obtain accurate information about the geophysical conditions of the subsoil.
    [0088] Additional features and advantages of the equipped autonomous underwater vehicle and the method of analysis of the geophysical characteristics of the subsoil of the present invention will become more evident from the following description of one of its modalities, provided for illustrative purposes and not -limiting, with reference to Figures 1-2 indicated below, where:- Figure 1: schematically represents a perspective view of an equipped autonomous underwater vehicle modality; - Figure 2: represents a schematic illustration of a side view of a modality of the equipped autonomous underwater vehicle and its main systems and instruments; - Figure 3: represents a schematic sectional view of the equipped autonomous underwater vehicle, showing a preferred modality of the gravimetric gradiometer; - Figure 4: represents a comparative graph between the revealed Tzz gravity gradient along a route close to the sea surface relative to a route on the seabed.
    [0089] With reference to Figure 1, the equipped autonomous underwater vehicle (100) comprises a magnetic gradiometer (4) consisting of 3 scalar magnetometers (12) positioned at a distance with specific supports (11) intact with the housing (1 ) of the vehicle.
    [0090] Said vehicle (100) has a propulsion system (3) and a drive system (2) consisting, in the described modality, in fins equipped with rudders.
    [0091] It can be seen that said vehicle (100) is also equipped with a GPS satellite system (9), an optical transmitter (8) and a radio modem (10).
    [0092] With reference to Figure 2, said equipped autonomous underwater vehicle (100) contains inside a gravimetric Tzz gradiometer (5), the feeding system (7) and the programmable control system (6), represented in the figure with a dashed line once they are inside the housing.
    [0093] With reference to Figure 3, said equipped autonomous underwater vehicle (100) contains within it a first casing (13) with a predominantly spherical shape and with a thickness such as to withstand the high pressures present on the seabed.
    [0094] Said second casing (14) is connected by means of a gimbal joint system (17) to the first casing (13) that surrounds it.
    [0095] This Cardan joint system (17) allows the second casing (14) to rotate freely within the first casing (13) according to the geometric axes x, y and z.
    [0096] A third casing (15) is connected by means of a Cardan gasket (18) to the second casing (14) that surrounds it.
    [0097] This gimbal joint (18) allows the third shell (15) to swing freely within the second shell (14).
    [0098] The third casing (15) involves inside a pair of accelerometers (16) aligned with each other and located at a certain distance. Furthermore, the third casing (15) comprises a system of weights (19) located in correspondence with the lower part of the casing (15).
    [0099] The gimbal joint (18), together with the weight system(19) and gimbal joint system (17), allows the accelerometers (16) of the gravimetric gradiometer (5) to be kept aligned according to the vertical of the local.
    [00100] In order to better illustrate the results obtained in terms of measuring the gravity gradient, when it is installed on board the equipped autonomous underwater vehicle (100), Figure 4 shows a comparative graph related to the gravity gradient Tzz.
    [00101] In particular, two simulations of the Tzz gradient were performed using a gravimetric gradiometer with a sensitivity of 5 Eotvos (resolution band 22) installed on board a ship (route 24), therefore close to the surface, and on board of the equipped autonomous underwater vehicle (100) navigating at a depth of 3,000 meters (route 26).
    [00102] Both means followed the same route, with the purpose of researching the Tzz gravity gradient of the same area.
    [00103] In Figure 4 it can be seen that the gravimetric gradiometer installed on board the autonomous underwater vehicle (curve 20) is capable of revealing gravitational anomalies that could not be measured at the surface (curve 21).
    [00104] In particular, the peak (23) shows how the gravimetric gradiometer installed in the autonomous underwater vehicle (100) is able to reveal a salt ridge (26) present under the clay layer (27) of the seabed.
    [00105] An illustrative and non-limiting example is provided below for a better understanding of the present invention and its embodiment. Example
    [00106] An autonomous underwater vehicle equipped according to Figures 1 and 2 was used for this purpose.
    [00107] An equipped autonomous underwater vehicle (100) approximately 7 meters long, 2000 kg dry weight and -20 kg in water weight was used, based on the following functional requirements: - operating depth: up to 3000 meters; - operating autonomy: up to 20 hours; - exploration area: route following straight equidistant trajectories of 500-1,000 meters with a square and/or rectangular network; - operating operating parameters: • constant speed of 3 knots (1.5 m/s); • height from the bottom 30-50 meters.
    [00108] The power system is based on lithium cell batteries (7) that can be replaced and recharged via a cable outside the vehicle.
    [00109] The following instruments are installed on board the vehicle: • gravimetric gradiometer (5) with a geometric axis for measuring the Tzz component; the only two sensitive elements (16) of the gradiometer have a sensitivity equal to 1 µGal, within a frequency range of 10-3to 10-1Hz. The gradiometer was hung by means of a system capable of keeping the sensitive geometric axes of the two gravimeters aligned along the vertical of the site with the necessary precision to perform gradiometric measurements in the frequency band of interest; • gradiometer for the differential measurement of the magnetic field (4); consisting of 3 scalar magnetometers (12) intact with the housing (1) and positioned outside it by means of specific supports (11). In particular, a gradiometer capable of performing accurate gradient measurements in three dimensions in real time was used. The magneto-gradiometer is based on an Overhauser technology capable of providing data with low disturbance, high accuracy and repeatability. The sensors are synchronized with each other in less than 0.1 ms through a single electronic unit in order to eliminate any possible noise caused by steep slopes or sudden changes in direction; • methane sensor; a sensor was used for the immediate recognition of hydrocarbons (CH4), also at great depths. The vehicle used is composed of the following main units: • Integrated Sensory Navigation System, based on: • an inertial platform, for measuring roll, pitch and yaw, in addition to accelerations along the three geometric Cartesian axes; • an echobathometer, for measuring the height from the bottom of the sea; • Doppler sonar, for measuring velocity during progression; • sonar system to check for obstacles during progression; • depth sensor; • acoustic transponder for vehicle location from the support vessel; • Auxiliary communication and location devices: • GPS satellite system (9) for determining the re-immersion position on the surface; • radio modem (10) for transmitting the position to the surface; • radio transmitter and optical transmitter (8), each equipped with autonomous activation and battery, for location in case of adverse weather conditions (fog and rough sea); • acoustic transmitter, equipped with autonomous activation and battery, to locate the vehicle in case it remains seated on the seabed; • Propulsion and Drive System, composed of: • stern thrusters (3), to guarantee the necessary thrust for navigation; • rudders and stabilizers (2), for thrust guidance and assuring stability along non-actively controlled directions; • Power System (7) based on secondary lithium batteries; • Housing (1), properly formatted to minimize resistance to water progression and containing: • airtight and pressurized containers for the electronic control and supply system; • expanded polymeric foams to increase vehicle buoyancy; • Immersion Ballast Release Unit as soon as desired depth has been reached and Emergency Ballast Release Unit, which can be activated in case of need or supply exhaustion.
    权利要求:
    Claims (41)
    [0001]
    1. Autonomous underwater vehicle equipped (100) for the acquisition of gravimetric and magnetic gradients near the seabed, characterized in that it comprises: - at least one gravimetric gradiometer (5) comprising two accelerometers with a sensitivity of 1 μGal/VHz within a wide range of frequencies less than 10-1Hz; and - at least one magnetic gradiometer (4).
    [0002]
    2. Vehicle (100), according to claim 1, characterized in that said gravimetric gradiometer (5) measures the vertical component Tzz of the gravimetric gradiometer.
    [0003]
    3. Vehicle (100), according to claim 2, characterized in that the frequency range is from 10-4 Hz to 10-2 Hz.
    [0004]
    4. Vehicle (100), according to claim 1, characterized in that said gravimetric gradiometer (5) is positioned close to the barycenter of said equipped autonomous underwater vehicle (100).
    [0005]
    5. Vehicle (100), according to claim 1, characterized in that said magnetic gradiometer (4) consists of at least two scalar magnetometers (12) intact with said vehicle (100) and located inside and/or outside the carcass (1) of the vehicle (100).
    [0006]
    6. Vehicle (100), according to claim 5, characterized in that said scalar magnetometers (12) that form said magnetic gradiometer (4) are three.
    [0007]
    7. Vehicle (100) according to claim 5, characterized in that said scalar magnetometers (12) are spaced from each other by a distance of 20 cm to 10 m.
    [0008]
    8. Vehicle (100) according to claim 7, characterized in that said scalar magnetometers (12) are spaced apart from each other by a distance of 40 cm to 1.5 m.
    [0009]
    9. Vehicle (100), according to claim 5, characterized in that said scalar magnetometers (12) that form said magnetic gravimeter (4) perform measurements of the magnetic field with an accuracy of up to 0.01 nT.
    [0010]
    10. Vehicle (100), according to claim 9, characterized in that said scalar magnetometers (12) that form said magnetic gravimeter (4) perform measurements of the magnetic field with an accuracy of up to 0.1 nT.
    [0011]
    11. Vehicle (100), according to any one of claims 5 to 10, characterized in that said scalar magnetometers (12) measure the magnetic field with Nuclear Magnetic Resonance technologies.
    [0012]
    Vehicle (100) according to any one of claims 5 to 10, characterized in that it comprises: - a frame (1); - at least one propulsion system (3); - at least one drive system (2); - at least one supply system (7); - at least one control system (6).
    [0013]
    13. Vehicle (100), according to claim 12, characterized in that said carcass (1) gives high aerodynamic properties to said vehicle (100).
    [0014]
    14. Vehicle (100), according to claim 12, characterized in that said carcass (1) has a total length ranging from 50 cm to 15 m.
    [0015]
    15. Vehicle (100) according to claim 14, characterized in that said carcass (1) has a total length ranging from 3 m to 10 m.
    [0016]
    16. Vehicle (100) according to claim 12, characterized in that said carcass (1) can be flooded inside to avoid excessive pressure loads.
    [0017]
    17. Vehicle (100) according to claim 12, characterized in that there are expandable polymeric foams inside said carcass (1).
    [0018]
    18. Vehicle (100), according to claim 12, characterized in that said propulsion system (3) comprises at least one propeller positioned at the stern, capable of ensuring the necessary thrust for the navigation of the vehicle (100).
    [0019]
    19. Vehicle (100), according to claim 12, characterized in that said drive system (2) comprises at least one rudder, to steer said vehicle (100), and/or at least one stabilizer, to ensure the stability along the routes of said vehicle (100).
    [0020]
    20. Vehicle (100), according to claim 12, characterized in that said power system (7) comprises at least one battery and/or a system for managing the battery(ies), capable of optimization and protection battery(ies) and also administration of the charging/discharging process.
    [0021]
    21. Vehicle (100) according to claim 12, characterized in that said battery is a lithium battery.
    [0022]
    22. Vehicle (100), according to claim 12, characterized in that said power system (7) has at least two batteries, at least one for powering the on-board electronics and at least one for powering the propulsion system ( 3) and drive system (2).
    [0023]
    23. Vehicle (100) according to claim 12, characterized in that said control system (6) consists of an electronic processor capable of controlling the propulsion system (3) and/or the drive system (2) and /or the supply system (7) in addition to the instruments present on board said equipped autonomous underwater vehicle (100).
    [0024]
    24. Vehicle (100), according to claim 12, characterized in that said control system (6) is a programmable system.
    [0025]
    25. Vehicle (100) according to any one of claims 5 to 10, characterized in that it comprises at least one of the following instruments: - a bathometer; - an echobatometer; - an obstacle detector; - a sonar; - a speedometer; - a methane sensor; - a thermometer.
    [0026]
    26. Vehicle (100), according to claim 25, characterized in that said speedometer is of the DLV (Doppler Speed Record) type.
    [0027]
    27. Vehicle (100) according to claim 25, characterized in that said methane sensor detects possible presence of hydrocarbons near the seabed, which cannot be detected at or above sea level.
    [0028]
    28. Vehicle (100), according to claim 25, characterized in that the data collected by the various instruments on board are kept in at least one electronic file present on board of said vehicle (100).
    [0029]
    29. Vehicle (100) according to claim 28, characterized in that said collected data are transmitted by said vehicle (100) to an external data collection base by means of at least one of the following means: - a communication system by radio or wireless;- a cable;- a radio modem (10).
    [0030]
    30. Vehicle (100) according to claim 12, characterized in that it contains a location system comprising at least one of the following instruments: - a GPS satellite system (9); - an optical transmitter (8);- a radio transmitter;- an acoustic transmitter;- a transponder.
    [0031]
    31. Vehicle (100) according to any one of claims 5 to 10, characterized in that it allows underwater explorations at a depth of 3,000 meters.
    [0032]
    32. Vehicle (100) according to claim 30, characterized in that said instruments and said systems are contained in hermetic containers positioned within said carcass and resistant to pressures of up to 40 MPa.
    [0033]
    33. Vehicle (100) according to claim 12, characterized in that said carcass of said vehicle (100) is hermetic and impermeable to water inside, and is manufactured with characteristics and materials capable of withstanding pressures of up to 40 MPa.
    [0034]
    A vehicle (100) according to any one of claims 5 to 10, characterized in that it comprises an immersion/emergence system.
    [0035]
    35. Vehicle (100) according to claim 34, characterized in that said immersion/emergence system consists of two electromechanical ballast release units, which allow the release of a first load of ballast as soon as the exploration level desired is achieved and the release of a second ballast charge to allow the emergence of said vehicle (100) from the bottom.
    [0036]
    36. Vehicle (100) according to claim 1, characterized in that the gravimetric gradiometer (5) comprises: - a first spherical casing (13) connected to the equipped autonomous underwater vehicle (100) and capable of resisting high pressures; - a second casing (14) with smaller dimensions than the first casing (13) and connected to it by means of a Cardan joint system (17); - a third casing (15) with smaller dimensions than the second casing (14) and connected to it by means of a Cardan joint (18) that allows its oscillation inside the second casing (14), where said third casing is provided with a system of weights (19) installed at the bottom; - two accelerometers ( 16) aligned along the vertical, situated at a distance of less than 60 cm from each other and constrained within the structure of the third envelope (15).
    [0037]
    37. Vehicle (100), according to claim 36, characterized in that said accelerometers (16) of the gravimetric gradiometer (5) are located at a distance of 10 to 40 cm from each other.
    [0038]
    38. Method for analyzing the geophysical characteristics of the subsoil, comprising the acquisition of gravity and magnetic gradients in an underwater environment characterized by the following phases: - use of an equipped autonomous underwater vehicle (100), as defined in any one of claims 1 to 37; - immersion of said vehicle (100) in the vicinity of the seabed; - navigation along a programmed route; - acquisition and storage of collected data by at least one graviometric gradiometer, at least one magnetic gradiometer and instruments contained in said vehicle ( 100) with correlation with the geographic point of measurement; - retrieval of collected data and their use for geophysical analysis of the subsoil.
    [0039]
    39. Method according to claim 38, characterized in that said vehicle (100) dives to an exploration depth ranging from 20 to 150 meters from the seabed.
    [0040]
    40. Method according to claim 38, characterized in that said vehicle (100), during the acquisition phase, follows programmed routes with trajectories in the horizontal plane to avoid disturbances on the instrumental measurements.
    [0041]
    41. Method according to claim 38, characterized in that said collected data, retrieved from said vehicle (100) through wireless connections or cable connections, are analyzed and combined to obtain accurate information about the geophysical conditions of the underground.
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    同族专利:
    公开号 | 公开日
    AU2011317548B2|2014-07-31|
    EP2630520A1|2013-08-28|
    AP2013006802A0|2013-04-30|
    CA2813471C|2019-01-08|
    WO2012052564A1|2012-04-26|
    DK2630520T3|2015-06-15|
    ES2537449T3|2015-06-08|
    CN103261920B|2016-11-02|
    US20140152455A1|2014-06-05|
    MX2013004271A|2013-07-05|
    CY1116431T1|2017-02-08|
    ITMI20101952A1|2012-04-23|
    HRP20150497T1|2015-08-14|
    AU2011317548A1|2013-05-02|
    AP3003A|2014-10-31|
    CA2813471A1|2012-04-26|
    BR112013009488A2|2016-07-26|
    IT1402411B1|2013-09-04|
    EP2630520B1|2015-04-01|
    PT2630520E|2015-07-31|
    CN103261920A|2013-08-21|
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    法律状态:
    2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-12-10| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-11-10| B07A| Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]|
    2021-06-01| B350| Update of information on the portal [chapter 15.35 patent gazette]|
    2021-08-17| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-09-08| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 24/10/2011, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    ITMI2010A001952A|IT1402411B1|2010-10-22|2010-10-22|UNDERWATER VEHICLE AUTONOMOUS FOR THE ACQUISITION OF GEOPHYSICAL DATA.|
    ITMI2010A001952|2010-10-22|
    PCT/EP2011/068539|WO2012052564A1|2010-10-22|2011-10-24|Autonomous under water vehicle for the acquisition of geophysical data|
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