Distributed maritime system

Abstract

The invention relates to a distributed maritime system (20), comprising a plurality of network nodes (22, 24, 26, 28, 30, 32), wherein the network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes each have a network identification identifier and a capability, wherein the network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes are designed to communicate their capabilities to the other network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes.

Description

[0001] 2024,122

[0002] Distributed Maritime System

[0003] Description

[0004] The invention relates to the automatic self-organization of distributed maritime systems whose network nodes, i.e., participants, possess different capabilities to solve tasks assigned to the system. The task is, in particular, a military one.

[0005] Automated, self-organizing maritime systems are not yet known, particularly in the military sector. Currently, it is necessary to manually dispatch partially autonomous unmanned systems, such as AlIVs (Autonomous Underwater Vehicles), on specific missions by an operator. While these autonomously operating unmanned systems can independently and automatically perform individual tasks (i.e., subtasks, as defined below) assigned by the operator, they are unable to receive subtasks from other unmanned network nodes.

[0006] The object of the present invention is therefore to create an improved concept for autonomous maritime systems.

[0007] The problem is solved by the subject matter of the independent patent claims. Further advantageous embodiments are the subject matter of the dependent patent claims.

[0008] Examples illustrate a distributed maritime system comprising a plurality of network nodes, i.e., participants. In this context, network nodes are unmanned, particularly independently operating, i.e., autonomous, platforms such as UUVs (unmanned underwater vehicles), UPSs (autonomous surface vehicles), or UAVs, but also communication buoys operating in the maritime environment. Network nodes can also be manned systems providing autonomous services, such as, for example, an aircraft (e.g., an airplane) that automatically acts as a relay for establishing a radio data link between vessels and other participants, such as a base station on land. Furthermore, a network node can be a manned platform that receives a request to perform a specific action. This could, for example, be launching an AUV from a ship.The entirety of the network nodes of the maritime system forms a (communication) network.

[0009] Each network node has a network identification identifier and a capability. The network identification identifier can be, for example, an IP address or a proprietary address. The capability can also be referred to as a service. Capabilities can be of various kinds. For example, the capability can include querying a sensor, controlling an effector, communicating with a base station, data processing, or the type of communication means available. Suitable communication means include, for example, radio communication, satellite communication, underwater communication, laser communication, cables, or fiber optic cables. Using the sensor or a combination of sensors, physical properties can be determined, enabling, for example, the detection of an object. Using the effector or a combination of effectors, the object can be captured or destroyed.The data processing unit can process the sensor data, for example, to detect the object. A communication module can be used to establish a data connection to the base station. This allows, for example, only a selection of network nodes to establish wireless data connections or only a selection of network nodes to be authorized to communicate with a base station.

[0010] Furthermore, network nodes can communicate their capabilities to other network nodes. For example, it is possible for one network node to know or query the capabilities of all other network nodes and centrally control them. However, it is also possible to establish a system of equal participants. In this case, the use of capabilities can be negotiated among them, or an algorithm can be used to make decisions regarding 2024.122.

[0011] The use of these capabilities informs the other, or at least the relevant, network nodes.

[0012] The idea is therefore to build a distributed system, i.e., a network, in which the capabilities of the network nodes are known and the network nodes can communicate with each other. Thus, the entirety of the network's capabilities is accessible to all network nodes. If a network node needs a capability it does not possess, another network node is instructed to provide that capability.

[0013] In exemplary implementations, a selected network node is configured to store the capabilities necessary to solve a given task, along with the corresponding network identification identifiers of the associated network nodes within that plurality. For example, a sequence of capabilities required to solve the task is defined automatically or predefined. This allows the task to be broken down into multiple subtasks, each solvable by a specific capability. For each required capability, an algorithm selects a network node to provide that capability. Selecting multiple network nodes (instead of one per capability) ensures redundancy for the provided capability.

[0014] The selected network node can choose (and ultimately instruct) the other network nodes to solve the subtasks using a boundary condition if more than one network node provides a required capability to the majority of network nodes. For example, the algorithm can consider as a boundary condition how quickly the capability can be provided, i.e., how quickly a sensor or effector can arrive at a specific location. Furthermore, the algorithm can consider, for example, that a network node possesses multiple capabilities, thus enabling a more efficient task than if two network nodes were required. Other factors that the algorithm can consider when selecting network nodes are also possible. Additionally, a tactical requirement can be considered as a boundary condition, such as the prohibition of radio communication.Data transmission would then have to take place, for example, via underwater communication instead of radio. The boundary conditions, i.e., also the information for determining the boundary conditions (e.g., the position of a network node), can be transmitted together with the capabilities between the network nodes, particularly in a common data stream, i.e., a message.

[0015] This means that the selected network node can instruct the network nodes to solve the subtasks by means of a boundary condition if more than one network node provides a required capability to the majority of network nodes.

[0016] The network node assigned to solve a subtask can now solve the subtask and inform the selected network node of the solution, or alternatively, determine that the subtask cannot be solved and inform the selected network node of this. Once the subtask is solved, the assigned network node can assign the next network node to solve the next subtask. If the subtask cannot be solved, the selected network node can assign another network node to solve the subtask or declare that the task cannot be solved.

[0017] This means that the selected network node can break down the given task into subtasks, each solvable with a specific capability. The selected network node can then use its network identification identifier to instruct the other network nodes to solve the subtasks. To instruct the solution of a subtask, a corresponding (network) message can be sent from the selected network node to the instructed network node.

[0018] In exemplary implementations, the selected network node can store a failure of a capability of a network node among the plurality of network nodes and, if the network node is already assigned to solve a subtask, assign another network node among the plurality of network nodes to solve the subtask. The failure of a network node can occur in various ways. Examples include a defect in the electronics necessary for a capability (e.g., sensor, effector, communication unit, data processing unit, etc.), the inability to complete the subtask (e.g., due to strong current, insufficient energy [for example, the network node's energy storage is almost depleted]), or the network node being unreachable from the network, particularly because it has moved too far away from the other network nodes and a communication connection can no longer be established.

[0019] In further embodiments, the selected network node can receive the task, along with information relevant to solving it, from a base station and store it. This storage ensures the continued operational capability of the distributed maritime system, even if a communication link to the base station is lost. The base station can be a local operations center or a cloud, i.e., a distributed computing infrastructure.

[0020] The network nodes preferably form an ad-hoc network (MANET), particularly a mobile one. Network nodes located above water can, for example, use radio waves, while network nodes located underwater can, for example, use underwater acoustics for communication. These adaptable and scalable networks expand the possibilities of the Internet of Things (IoT) underwater and enable improved data collection and real-time monitoring. The combination of these adaptable and scalable networks can also function in locations where traditional infrastructure has failed. In the maritime environment, the complexity of setting up such an ad-hoc network lies in the need for network nodes such as buoys or unmanned surface vessels (UPS) that link surface communication (e.g.,via radio) and underwater communication, enabling the exchange of messages between surface vessels and aircraft as well as underwater vehicles. Thus, terrestrial and underwater communication can be implemented. 2024.122.

[0021] Communication areas can be seamlessly connected. A mobile ad-hoc network has the advantage of being dynamic, meaning network nodes can reconnect to or leave the network.

[0022] This means that one network node in the group of network nodes is an underwater vehicle, and another network node in the group is configured to translate between surface and underwater communication, enabling communication with the underwater vehicle while it is submerged. This additional network node is also referred to as a converter. Surface communication is preferable to underwater communication, for example, due to the greater available bandwidth. Therefore, when communicating with the underwater vehicle, the network nodes in the group preferentially use surface communication.For example, the network nodes of the majority of network nodes are designed to first reach the underwater vehicle via surface communication and only to choose underwater communication if the underwater vehicle does not receive the surface communication.

[0023] In particular, a reactive ad-hoc network can be used. Unlike a proactive ad-hoc network, a reactive ad-hoc network is characterized by the fact that it is only established when data needs to be sent. Network rebuilding may be necessary at short intervals because the network nodes are mobile and not fixed in location. This means that the route for the data packet is only determined when the data packet is about to be sent. Specifically, the route is determined decentrally at each node. Reactive ad-hoc networks have the advantage over proactive ad-hoc networks of generating less data traffic. This is particularly useful in military applications.

[0024] To send a message between two network nodes, the sending network node can transmit a broadcast signal to initiate the construction of a routing table. The destination, i.e., the network node for which the message is intended, is already known, for example, because the sending node has been given the address 2024.122.

[0025] Network nodes are generally aware of the capabilities available within the network. If a network node is no longer reachable from the network, the sending network node can detect this, for example, if the broadcast message does not reach its destination within a predetermined time period. In this case, the sending network node can, for example, select a new recipient.

[0026] Preferably, the broadcast message contains information about the intended recipient, such as the network identification identifier. This message can be called a relay request. Every recipient of the broadcast message can send a unicast message back to the sender and also forward the broadcast message itself as a new broadcast message. In this way, the network nodes build a routing table of network nodes they can reach directly, the so-called next hop. These network nodes also build such a routing table based on the new broadcast message. Once the broadcast message has reached the recipient, either directly or via other network nodes, the recipient sends a unicast message back to the sender. This unicast message can be called a relay response.

[0027] There are network nodes that can transmit messages both above water, e.g., via radio, and underwater, e.g., using underwater sound. These network nodes are also called repeaters because they can convert a message from one data transmission path to another. To specifically reach a network node underwater, a repeater must be selected to translate the message from the above-water area to the underwater area, or vice versa. This repeater should be located as close as possible to the underwater receiver. This is advantageous because the bandwidth available for underwater communication is significantly lower compared to above-water communication. The sending network node can create a routing table for the repeaters, as described above. This broadcast message can be called a repeater request or relay request. The repeater request can be, for example,will be sent if broadcast messages to the recipient via overwater communication have not reached the recipient. (See 2024.122.)

[0028] All relays that receive a relay request respond with a unicast message. The sending node then creates a relay table with an overview of all available network nodes, especially UPSs or buoys, that have relay capability. Based on internal routing logic, the sending network node can then select the relay best suited to deliver the message to the underwater receiver.

[0029] One possible routing logic is as follows: The sending network node has stored, or can access (e.g., in a cloud), the mission plan of the underwater nodes (UUVs). This information includes the coordinates and the corresponding timestamp. The repeater response contains the repeater's coordinates. The sending network node calculates the shortest distance between the UUV and the repeater (e.g., a buoy or UPS with gateway functionality) and then sends a DATA message, i.e., a data packet. This process can be called an access request. The data packet is marked with information, in particular a flag, which informs the repeaters that the message from the surface domain (especially radio) should be converted into an acoustic signal for underwater communication. Above water, for example, an extension of the AODV (Ad-hoc On-Demand Distance Vector) protocol can be used. Underwater, for example, [the following is suitable].GUWMANET (Gossiping in Underwater Mobile Ad-Hoc Networks) or an extension thereof.

[0030] A mission that utilizes a distributed, particularly maritime, system whose network nodes are located in various media, such as in and on water (e.g., ships – manned or unmanned) or in the air (e.g., aircraft – manned or unmanned), can be described as a Multi-Domain Operation (MDO). A distributed base station (e.g., a cloud) or a central base station can also be part of the Multi-Domain Operation. The mission can be defined as the solution to the given task. That is, the task can be solved using a Multi-Domain Operation. 2024.122

[0031] When a new network node joins the network, there are several options for how its capabilities are made known to the other network nodes, especially the selected network node. First, the new network node can transmit its capabilities to the base station and / or via broadcast to the other network nodes, or directly (especially via unicast) to the selected network node upon joining the network. However, the base station may already be aware of the capabilities. In any case, after the base station retrieves the capabilities, the selected node can verify them by making a corresponding request. Furthermore, when assigning subtasks, it is possible to query the capabilities, and optionally constraints, of all network nodes beforehand.

[0032] In exemplary implementations, the network nodes are configured to store the network identification identifier of the next network node along the path to the remote network node for forwarding the communication message, provided the remote network node is not directly reachable. This means that each network node only knows the next network node (also called the next hop) to which a message must be sent to reach a recipient. The next network node can be stored in a routing table for each network node. For this purpose, the routing tables of all network nodes can first be built using a broadcast before a message is sent.

[0033] Furthermore, a method for solving a problem using a distributed maritime system comprising a plurality of network nodes is disclosed, wherein each network node has a network identification identifier and a capability. The method comprises the following steps: a) communicating the capabilities of the network nodes of the plurality of network nodes to the other network nodes of the plurality of network nodes; b) storing the capabilities necessary to solve a given problem together with the associated network identification identifiers of the corresponding network nodes of the plurality of network nodes; c) selecting a network node of the plurality of network nodes to solve at least one subtask of the given problem; d) communicating whether the subtask has been solved or whether the subtask cannot be solved by the selected network node.The message can be sent to the network node that also has the capabilities stored with the network identification identifiers of the network nodes.

[0034] Preferred embodiments of the present invention are explained below with reference to the accompanying drawings. These show:

[0035] Fig. 1 : a schematic representation of a distributed maritime system.

[0036] Before exemplary embodiments of the present invention are explained in detail below with reference to the drawings, it should be noted that identical, functionally equivalent or equivalent elements, objects and / or structures in the different figures are provided with the same reference numerals, so that the description of these elements shown in different exemplary embodiments is interchangeable or can be applied to one another.

[0037] Fig. 1 shows a schematic representation of a distributed maritime system 20. The distributed maritime system comprises a plurality of network nodes 22, 24, 26, 28, 30, 32. Network node 22 is a UAV, for example, a drone. Network nodes 24 and 26 are UPSs, for example, autonomous surface vehicles (ASVs). Network node 28 is a communication buoy. Network nodes 30 and 32 are UUVs, for example, autonomous underwater vehicles (AUVs). At least one network node 22, 24, 26, 28, 30, 32 can communicate with a base station 34, represented here as a cloud.

[0038] Based on this exemplary maritime system 20, two exemplary implementations will now be described. 2024.122

[0039] A first embodiment deals with mine hunting and mine clearance. UPS 24 is selected as a network node to receive a task from base station 34. In this embodiment, the task is to search a predefined area for sea mines and destroy any sea mines found. The selected network node, i.e., UPS 24, now creates subtasks to be solved or receives them from the base station. The subtasks are saved for later use in case a connection to the base station is lost. UPS 24 then sends a broadcast request to all other network nodes, to which each network node responds with its network identification code and capabilities. This information is also stored by UPS 24. Advantageously, the network nodes send further information, the boundary conditions, to UPS 24.

[0040] The UPS 24 now selects from network nodes 22, 26, 28, 30, and 32 the network node that can solve the first subtask. If multiple network nodes can solve the first subtask, the UPS 24 selects the preferred network node for solving the first subtask based on the boundary condition(s). The first subtask could be to scan the specified area for potential sea mines. The required capability of the network nodes is a suitable minehunting sonar. UPS 24 and UPS 26 have such a minehunting sonar on board; however, UPS 24 requires some of its data processing capacity (second subtask) for assigning and monitoring the execution of the subtasks. Therefore, UPS 26 is instructed to scan the area for potential sea mines. Due to its available data processing capacity, UPS 26 can also directly perform the evaluation of the sonar data from the minehunting sonar.Alternatively, it would also be possible to send the sonar data to another network node for evaluation.

[0041] If UPS 26 detects a candidate sea mine, it sends the candidate's position to UPS 24. UPS 24 then assigns the third subtask, identifying the candidate sea mine, to UUV 30, since UUV 30 is the only network node with a camera on board for sea mine identification. However, UUV 30 does not have sufficient data processing capacity to perform this task based on the 2024.122

[0042] Camera data is used to identify the sea mine. For this reason, UUV 30 transmits the camera images to the USV 24 for evaluation. This can be done via underwater communication, or the UUV 30 can carry a communication buoy that can be deployed as needed. Ideally, the UUV 30 remains connected to the buoy via a data cable, allowing the buoy to transmit the data wirelessly to the USV 24. The fourth subtask selected for image data processing is the USV 24.If a network node other than the selected one is instructed to process the fourth subtask, the selected network node (here UPS 24) can forward the data to the corresponding network node for processing the fourth subtask, or UPS 30, the network node for processing the third subtask, will also receive the instruction to process the third subtask and directly inform the network node to which the images should be sent for processing.

[0043] If the identification is successful (USV 24 performed the identification itself; otherwise, the corresponding network node would have notified USV 24 of the identification result), USV 24 selects UUV 32 to handle the fifth subtask, as UUV 32 is the only vessel with explosives on board to eliminate the sea mine. After UUV 32 reports that it is in position, either UUV 32 or USV 24 can automatically issue the detonation command. However, manual detonation by an operator is preferred. The operator can issue the detonation command from base station 34. After detonation, USV 24 reports the successful completion of the task to base station 34, provided only one sea mine was found in the area. Otherwise, the process is repeated accordingly for the remaining sea mines.

[0044] The second embodiment deals with the reconnaissance of a sea area. The UUVs 30 and 32, the USVs 24 and 26, and the communication buoy 28 each have sonars (preferably passive) on board, which they use to monitor the surroundings. However, the operation takes place in a remote sea area where a direct data link to base station 34 is not possible. From time to time, the UAV 22 (or a manned aircraft) flies over the sea area. The remaining communication nodes register the new participant in their 2024.122

[0045] The network and receive information from it that it has the capability to establish a data connection to the base station. Accordingly, the communication nodes send their stored sonar data to the UAV 22 whenever it is within range. The sonar data can then be analyzed at the base station.

[0046] Although some aspects have been described in connection with a device, it is understood that these aspects also constitute a description of the corresponding process, so that a block or component of a device is also to be understood as a corresponding process step or as a feature of a process step. Similarly, aspects described in connection with or as a process step also constitute a description of a corresponding block, detail, or feature of a corresponding device.

[0047] The embodiments described above merely illustrate the principles of the present invention. It is understood that modifications and variations of the arrangements and details described herein will be obvious to other people skilled in the art. Therefore, it is intended that the invention be limited only by the scope of protection set forth in the following claims and not by the specific details presented herein by way of description and explanation of the embodiments.

[0048] 2024,122

[0049] Reference symbol list:

[0050] 20 distributed maritime system

[0051] 22 UAVs 24 UPS

[0052] 26 UPS

[0053] 28 Communication buoy

[0054] 30 UUV

[0055] 32 UUV 34 Base station / Cloud

Claims

2024,122 Patent claims 1. Distributed maritime system (20) comprising a plurality of network nodes (22, 24, 26, 28, 30, 32), wherein the network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes each have a network identification identifier and a capability, wherein the network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes are configured to communicate their capabilities to the other network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes.

2. Distributed maritime system (20) according to claim 1, wherein a selected network node (24) of the plurality of network nodes (22, 24, 26, 28, 30, 32) is configured to store the capabilities necessary to solve a given task together with the associated network identification identifiers of the associated network nodes (22, 26, 28, 30, 32) of the plurality of network nodes.

3. Distributed maritime system (20) according to claim 2, wherein a network node (22, 26, 28, 30, 32) assigned to solve a subtask of the task set is configured to solve the subtask and communicate the solution of the subtask to the selected network node (24) or to determine the non-fulfillability of the subtask and communicate the non-fulfillability of the subtask to the selected network node (24).

4. Distributed maritime system (20) according to one of claims 2 or 3, wherein the selected network node (24) of the plurality of network nodes is configured to decompose the task into subtasks, each of which can be solved by a single capability, and to instruct the network nodes (22, 26, 28, 30, 32) of the plurality of network nodes by means of their network identification identifier to solve the subtasks by the instructed network nodes (22, 26, 28, 30, 32) of the plurality of network nodes (22, 24, 26, 28, 30, 32). 2024,122 5. Distributed maritime system (20) according to one of claims 2 to 4, wherein the selected network node (24) is configured to instruct the network nodes (22, 26, 28, 30, 32) of the plurality of network nodes to solve the subtasks by means of a boundary condition if more than one network node (22, 26, 28, 30, 32) of the plurality of network nodes provides a required capability.

6. Distributed maritime system (20) according to any one of claims 2 to 5, wherein the selected network node is configured to store a failure of a capability of a network node of the plurality of network nodes and, if the network node is already instructed to solve a subtask, to instruct another network node of the plurality of network nodes to solve the subtask.

7. Distributed maritime system (20) according to one of claims 2 to 6, wherein the selected network node (24) is configured to receive and store the task together with information relevant to the solution of the task from a base station.

8. Distributed maritime system (20) according to one of the preceding claims, wherein the network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes form an ad-hoc network.

9. Distributed maritime system (20) according to one of the preceding claims, wherein the network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes are configured to send a communication message to a remote network node of the plurality of network nodes and to store the network identification identifier of a next network node on the way to the remote network node for forwarding the communication message, provided that the remote network node is not directly reachable.

10. Distributed maritime system (20) according to one of the preceding claims, wherein the capability comprises querying a sensor. 2024,122 11. Distributed maritime system (20) according to one of the preceding claims, wherein the capability comprises controlling an effector.

12. Distributed maritime system (20) according to one of the preceding claims, wherein the capability includes communication with a base station.

13. Distributed maritime system (20) according to any one of the preceding claims, wherein the capability includes data processing.

14. Distributed maritime system (20) according to any one of the preceding claims, wherein the capability includes the type of communication means available.

15. Distributed maritime system (20) according to one of the preceding claims, wherein a network node of the plurality of network nodes (22, 24, 26, 28, 30, 32) is an underwater vehicle, wherein a further network node of the plurality of network nodes (22, 24, 26, 28, 30, 32) is configured to convert between a surface communication and an underwater communication in order to be able to communicate with the underwater vehicle when the underwater vehicle is submerged.

16. Distributed maritime system (20) according to claim 15, wherein the network nodes of the plurality of network nodes (22, 24, 26, 28, 30, 32) are configured to first reach the underwater vehicle by means of surface communication and to select underwater communication only if the underwater vehicle does not receive the surface communication.

17. Method for solving a problem using a distributed maritime system (20) comprising a plurality of network nodes (22, 24, 26, 28, 30, 32), wherein the network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes each have a network identification identifier and a capability to perform the following steps: 2024,122 - Communicating the capabilities of the network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes to the other network nodes (22, 24, 26, 28, 30, 32) of the plurality of network nodes; - Storing the skills necessary to solve a given task together with the associated network identification identifiers of the associated network nodes (22, 26, 28, 30, 32) of the majority of network nodes; - Selecting one network node from the plurality of network nodes (22, 26, 28, 30, 32) to solve at least one subtask of the given task; - Informing that the subtask is solved or that the subtask cannot be solved by the selected network node. 18

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