Autonomous underwater vehicle for underwater data acquisition

Abstract

An underwater data collection system with: an autonomous underwater vehicle (AUV) comprising: a body made of a corrosion-resistant material, the body having a plurality of openings for mounting sensor nodes; a plurality of sensors mounted on the body of the AUV, the sensors comprising: a pH sensor to measure the pH value of the surrounding water; a turbidity sensor to measure the turbidity of the surrounding water a temperature sensor to measure the temperature of the surrounding water; a GPS sensor to determine the position of the AUV; a central processing unit (CPU) housed in the AUV body, the CPU comprising: a Raspberry Pi configured to collect data from the multitude of sensors, process the collected data, and control the operation of the AUV; a communication module comprising a LoRa-02 SX1278 433MHz transceiver, the communication module configured to transmit the processed data in real time to a remote monitoring station or to another AUV; a propulsion system to navigate the AUV autonomously through underwater environments; and a power source configured to power the AUV, the sensors, and the communication module, the power source including at least one rechargeable battery.

Description

Scope of the invention

[0001] The present invention relates to an autonomous underwater vehicle (AUV) designed for efficient underwater environmental data collection. In particular, the invention relates to an AUV equipped with multiple sensors for measuring pH, turbidity, temperature, and location using GPS and transmitting the data via a LoRa-based transmission system. Background of the invention

[0002] Underwater environments require continuous monitoring, which is essential for marine research, pollution control, and climate change studies. Conventional approaches typically focus on manual sampling or rely on expensive tethered systems that limit the detection range and reduce data acquisition efficiency. The present invention overcomes these limitations and provides a cost-effective and independent solution for long-distance data transmission.

[0003] The autonomous underwater vehicle (AUV) represents a major development in marine research, environmental monitoring, and underwater reconnaissance. With increasing global concern about marine pollution, climate change, and the impact of humans on aquatic ecosystems, the demand for underwater real-time data acquisition systems has increased dramatically. Conventional underwater monitoring techniques involve manual sampling, where researchers collect physical water samples for analysis in a laboratory, or a system attached to submerged sensors with cables to transmit data to a surface station. Although these approaches have been extensively used, they suffer from several drawbacks, including limited mobility, high operating costs, and the inability to conduct long-term autonomous monitoring over vast regions.Advanced autonomous underwater vehicles (AUVs) have been developed to address these challenges and provide a cost-effective and scalable solution for underwater data collection without direct human intervention.

[0004] Current underwater data acquisition solutions include remotely operated vehicles (ROVs), moored sonars, and free-floating sensor buoys. Remotely operated vehicles (ROVs) are robots that require real-time human control via a physical connection, limiting their range and operational time. Although ROVs can carry an array of water quality sensors, they are costly and impractical for continuous data collection over large ocean areas due to the need for surface vessels and manual operation. In contrast, moored sensor networks consist of multiple static sensor platforms that are either anchored to the seafloor or suspended in the water column. These systems are typically used for long-term monitoring of specific locations such as coral reefs, deep-sea wells, or offshore oil platforms.However, moored sensors are not mobile and are not suitable for studying dynamically changing ocean processes that require large-scale spatial coverage. Floating sensor buoys, drifting with ocean currents, are more flexible but are limited by unpredictable movement patterns and the risk of damage or loss in the harsh marine environment.

[0005] Alternative concepts for AUVs have been developed to overcome the shortcomings of conventional underwater surveillance methods. These vehicles collect data along preprogrammed routes using a propulsion system. These AUVs are an effective means of underwater navigation, but maintaining propulsion requires a significant amount of energy, limiting their endurance and requiring frequent recharging or retrieval.

[0006] AUVs can drastically change the way we explore the underwater world by enabling more efficient, reliable, and continuous monitoring of the marine environment. Summary of the invention

[0007] The present invention provides an autonomous underwater vehicle (AUV) designed for real-time underwater data collection. The AUV is equipped with a suite of sensors, including a pH sensor, a turbidity sensor, a temperature sensor, and a GPS sensor, all mounted on the AUV's body via dedicated sensor nodes installed in precisely positioned apertures. The sensors regularly measure various water quality parameters, including acidity, suspended sediment concentration, and temperature fluctuations, while the GPS sensor enables geographic tracking.

[0008] A Raspberry Pi module acts as the primary processing unit, receiving and organizing the collected data. This data is transmitted to a remote monitoring system via a LoRa-02 SX1278 433MHz transmitter and receiver. The LoRa communication system enables long-range, low-power data transmission, enabling efficient data collection in remote underwater locations without a direct cable connection. Multiple AUVs can communicate with each other and with a central base station, enabling coordinated underwater monitoring in large-scale environments.

[0009] The main objective of the present invention is to provide an autonomous underwater vehicle (AUV) capable of efficiently collecting, processing, and transmitting underwater environmental data in real time. The invention aims to overcome the limitations of existing underwater data collection methods by integrating a comprehensive sensor system comprising pH, turbidity, temperature, and GPS sensors, all securely mounted on the AUV's body to ensure accurate and reliable measurements. These sensors enable continuous monitoring of key water quality parameters, making the invention particularly useful for environmental studies, marine research, and pollution assessment.

[0010] Another objective of the invention is to enable long-range, low-power data transmission without the need for frequent surfacing. This is achieved by implementing a LoRa-02 SX1278 433MHz communication module, which allows the AUV to transmit collected data to other AUVs or a remote base station while operating underwater. By leveraging LoRa technology, the invention provides an effective solution for real-time data collection over large underwater areas, eliminating the need for costly acoustic or satellite-based communication systems. This approach significantly increases the range and efficiency of the AUV, making it suitable for large-scale oceanographic studies and long-duration deployments.

[0011] Another objective of the invention is to improve the autonomy of underwater surveillance by using a Raspberry Pi as the central processing unit. The Raspberry Pi efficiently collects, organizes, and transmits sensor data while enabling seamless communication with multiple AUVs operating in a network. This enables the formation of a coordinated underwater sensor system in which multiple AUVs can exchange data and optimize their navigation based on real-time environmental conditions. By integrating data processing and management into the AUV, the invention ensures that information is efficiently processed and effectively transmitted, reducing the dependence on post-mission data acquisition. BRIEF DESCRIPTION OF THE CHARACTERS

[0012] These and other features, aspects and advantages of the present invention will be better understood when the following detailed description is read with reference to the accompanying drawings, in which like characters represent like parts throughout the drawings, wherein: Fig. Figure 1 shows a block diagram of an autonomous underwater vehicle for underwater data acquisition. Fig. 2 shows a schematic representation of the autonomous underwater vehicle for underwater data acquisition according to an embodiment of the present invention. Detailed description of the invention

[0013] To facilitate an understanding of the invention, reference will now be made to the embodiment illustrated in the drawings and described in specific terms. It should be understood, however, that this is not intended to limit the scope of the invention, and such changes and further modifications to the illustrated system, and such further applications of the principles of the invention embodied therein, are contemplated as would normally occur to one skilled in the art to which the invention pertains.

[0014] It will be understood by those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the invention and are not to be considered as limiting.

[0015] When this specification refers to "one aspect," "another aspect," or the like, it means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Therefore, the terms "in one embodiment," "in another embodiment," and similar expressions throughout this specification may or may not all refer to the same embodiment.

[0016] The terms "comprises," "including," or other variations thereof are intended to cover non-exclusive inclusion, such that a process or method comprising a list of steps not only comprises those steps, but may also include other steps not expressly listed or included in such process or method. Likewise, one or more devices or subsystems or elements or structures or components introduced with "comprises...a" do not preclude, without further limitation, the existence of other devices or other subsystems or other elements or other structures or other components or additional devices or additional subsystems or additional elements or additional structures or additional components.

[0017] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The system, methods, and examples provided herein are for illustrative purposes only and are not intended to be limiting.

[0018] Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0019] In Fig. Figure 1 shows a block diagram of a quantum-assisted system for detecting fake news. The system 100 comprises: a body (102) made of a corrosion-resistant material, the body having a plurality of openings for attaching sensor nodes; a plurality of sensors (104) attached to the body of the AUV, the sensors comprising: a pH sensor (104a) for measuring the pH of the surrounding water; a turbidity sensor for measuring the turbidity level of the surrounding water; a temperature sensor for measuring the temperature of the surrounding water; a GPS sensor for determining the position of the AUV; a central processing unit (CPU) (106) housed in the AUV body, the CPU comprising: a Raspberry Pi (106a) configured to collect data from the plurality of sensors, process the collected data, and control the operation of the AUV;a communication module (108) comprising a LoRa-02 SX1278 433MHz transceiver (108a), the communication module configured to transmit the processed data in real time to a remote monitoring station or to another AUV; a propulsion system (110) to navigate the AUV autonomously through underwater environments; a power source (112) configured to power the AUV, the sensors, and the communication module, the power source including at least one rechargeable battery;

[0020] In one embodiment, the pH sensor (104a), the turbidity sensor, and the temperature sensor are integrally connected to a sensor mount attached to the AUV body so that the sensors are exposed to the surrounding water to accurately measure the water quality parameters.

[0021] In one embodiment, the AUV further includes a self-cleaning mechanism integrated into the body to prevent biofouling on the sensors, wherein the self-cleaning mechanism includes a periodic vibration system or a coating material designed to resist the adhesion of marine organisms.

[0022] In one embodiment, the LoRa-02 SX1278 433MHz transceiver (108a) is configured to communicate with multiple AUVs in a mesh network, with each AUV in the network acting as a relay node, thereby extending the range of data transmission and improving communication reliability in remote underwater regions.

[0023] In one embodiment, the Raspberry Pi (106a) is programmed with a dynamic technique that adjusts the AUV's navigation path and data collection frequency based on real-time sensor inputs, allowing the AUV to adapt to changing environmental conditions.

[0024] In one embodiment, the AUV includes a modular sensor interface, wherein each of the plurality of sensors is attached to the AUV via detachable sensor nodes, allowing for easy replacement or upgrade of individual sensors.

[0025] In one embodiment, the AUV is configured to perform autonomous operations for a predetermined duration, with the power source configured to continuously support operation for at least 48 hours based on an energy-efficient mode of operation that balances data collection and propulsion energy consumption.

[0026] In one embodiment, the communication module (108) includes a power saving mode that is automatically activated when the AUV is idle or stationary, thereby minimizing power consumption while maintaining the ability to transmit critical data in real time when needed.

[0027] In one embodiment, the AUV is equipped with a navigation system comprising an inertial measurement unit (IMU) and depth sensors, where the IMU provides real-time orientation and motion data for precise navigation and positioning in three-dimensional underwater space.

[0028] In one embodiment, the AUV is capable of performing real-time environmental anomaly detection based on the data received from the sensors, where the anomaly detection system identifies significant deviations in water quality parameters and triggers an adaptive response in the AUV's mission plan, including changing the sampling frequency or route.

[0029] Fig. 2 shows a schematic representation of the autonomous underwater vehicle for underwater data acquisition according to an embodiment of the present invention.

[0030] The autonomous underwater vehicle (AUV) of the present invention is designed for use in challenging underwater environments and collects environmental data in real time from the surrounding water. At the heart of the AUV's operation is sophisticated technology running on a Raspberry Pi, which serves as the vehicle's central processing unit. This technology is responsible for controlling the vehicle's navigation, sensor data acquisition, communication, and decision-making processes. The main goal of this technology is to ensure that the AUV operates autonomously and efficiently, adapting to environmental conditions in real time.

[0031] The technique begins with the initialization of the AUV's sensors, including pH, turbidity, temperature, and GPS sensors, at the start of each mission. The Raspberry Pi continuously monitors data from these sensors and processes the raw data to generate accurate environmental readings. The pH sensor determines the acidity or alkalinity of the water, the turbidity sensor assesses clarity, and the temperature sensor measures the water's thermal properties. These sensors work together to provide a comprehensive overview of water quality, which is critical for environmental monitoring. The GPS sensor provides the AUV's location, allowing the vehicle to map its route and correlate the data with specific geographic coordinates.

[0032] One of the most important features of the technology is its ability to adapt to the dynamics of the underwater environment. Instead of relying on a fixed mission plan, the technology incorporates real-time data processing to modify the AUV's behavior as it moves through the water. At the heart of this adaptability is the anomaly detection system. The anomaly detection technology analyzes incoming sensor data for deviations from the baseline or expected values. For example, if the turbidity value increases significantly, indicating possible pollution, or the pH value suddenly drops, indicating a change in water quality, the AUV triggers an immediate response. This response could include adjusting the AUV's sampling rate, increasing the data collection frequency, or changing the navigation path to collect more data in areas of interest.This technology ensures that the AUV can respond to environmental changes and improves its ability to detect and respond to critical events.

[0033] In addition to adaptive data acquisition, the technology also controls the AUV's navigation system. The vehicle's propulsion system is controlled by a navigation technology that uses both sensor inputs and preprogrammed mission parameters to steer the AUV through the intended path. The AUV's inertial measurement unit (IMU) and depth sensors provide the technology with information about the vehicle's orientation and depth, allowing it to maintain a precise course. The navigation technology can be adjusted in real time based on data received from the water quality sensors. If a significant environmental change is detected in a particular area, the AUV can alter its trajectory to investigate that region more thoroughly.

[0034] The Raspberry Pi is configured to manage communication between the AUV and external monitoring stations. The LoRa-02 SX1278 433MHz communication module enables the AUV to transmit its collected data over long distances. The technology is designed to minimize power consumption by operating the communication module in a low-power sleep mode when the AUV is stationary or when data transmission is not required. Once the AUV detects that it is within range of a remote monitoring station or another AUV in its network, the technology automatically reactivates the communication system to transmit the latest data. In cases where the communication link is temporarily unavailable, the technology ensures that the data is stored locally on the Raspberry Pi's onboard memory and transmitted once the communication link is restored.

[0035] The technology also facilitates the cooperative operation of multiple AUVs. In a networked system, multiple AUVs can operate in parallel, collecting data from different areas of an ocean or body of water. The technology includes a coordination system that allows AUVs to communicate with each other, share information, and even relay data across a wider area. If a nearby AUV detects an anomaly or collects important data, it can share this information with other AUVs, which can adjust their deployment parameters accordingly. This cooperative approach expands the effective deployment range of AUVs and enables large-scale monitoring without the need for frequent manual intervention.

[0036] The technology's adaptability is not limited to changes in environmental parameters but also extends to the AUV's energy management system. Since the AUV is powered by rechargeable batteries, the technology continuously monitors the remaining battery life and adjusts the AUV's operation to optimize energy consumption. If the technology detects that the remaining battery charge is low, it can reduce the frequency of data collection, switch to low-power operating modes, or even direct the AUV to a docking station for recharging. Energy-efficient management of the AUV's operation ensures that it can remain in the field for extended periods and collect data for extended periods without the need for frequent retrieval.

[0037] The Raspberry Pi's computing power also enables the integration of machine learning capabilities into the technology. Over time, the system can analyze historical sensor data and learn to predict certain environmental changes based on patterns observed in previous data. For example, if the AUV detects a gradual increase in water temperature and turbidity over several days, the machine learning model could predict a possible algal bloom or other environmental event and prompt the AUV to adjust its behavior in anticipation of such an event. This predictive capability increases the AUV's autonomy, reduces the need for human oversight, and enables more proactive monitoring of the underwater environment.

[0038] The pH sensor is mounted on the bottom of the AUV to ensure consistent exposure to water samples and enable accurate acidity determination. The turbidity sensor is mounted on the side of the AUV to measure water clarity by analyzing suspended solids. The temperature sensor is located near the water surface to monitor water temperature fluctuations while underway. The GPS sensor, housed in a waterproof enclosure on the top of the AUV, continuously tracks the vehicle's position.

[0039] The data acquisition system is controlled by a Raspberry Pi, which processes the sensor readings and prepares them into structured data sets. The Raspberry Pi is programmed to execute periodic sampling routines that ensure continuous data collection over time. The communication module, which uses the LoRa-02 SX1278 433MHz transceiver, enables the Raspberry Pi to send data to a central monitoring system, either directly or via other AUVs acting as relay nodes in a mesh network. This approach increases the range of data transmission and ensures that information from remote underwater locations reaches the monitoring station efficiently.

[0040] The AUV operates autonomously using preprogrammed navigation technology that guides it through predefined underwater paths while avoiding obstacles. It is equipped with a propulsion system, typically consisting of thrusters or propellers, that enables controlled movement in all directions. Furthermore, onboard energy management ensures optimal energy utilization, with a rechargeable battery system enabling extended operation before maintenance is required.

[0041] By integrating advanced sensing, real-time data processing, and long-range communication, the described AUV offers an effective solution for continuous underwater environmental monitoring. The invention is particularly useful for scientific research, environmental assessment, and industrial applications requiring autonomous data collection.

[0042] The present invention relates to the field of autonomous underwater vehicles (AUVs) and underwater data acquisition systems. Specifically, it is an AUV that integrates environmental sensors for monitoring water quality parameters, a communication system for long-distance data transmission, and an onboard computing system for real-time data processing and adaptive behavior. The invention is applicable in various fields, including oceanography, environmental monitoring, marine biology, industrial applications, and environmental protection. It offers a solution to the challenges of large-scale real-time underwater monitoring by providing a fully autonomous, cost-effective, and scalable system capable of operating in various aquatic environments without the need for frequent manual intervention.

[0043] The drawings and the foregoing description provide examples of embodiments. Those skilled in the art will understand that one or more of the described elements may well be combined to form a single functional element. Alternatively, certain elements may be separated into multiple functional elements. Elements from one embodiment may be added to another embodiment. For example, the order of the processes described herein may be changed and is not limited to the manner described herein. Furthermore, the acts of a flowchart need not be performed in the order shown; nor do all acts necessarily need to be performed. Also, those acts that are not dependent on other acts may be performed in parallel with the other acts. The scope of the embodiments is in no way limited by these specific examples.Numerous variations are possible, whether explicitly stated in the description or not, such as differences in structure, dimensions, and use of materials. The scope of the embodiments is at least as broad as indicated in the following claims.

[0044] Advantages, other benefits, and solutions to problems have been described above with respect to specific embodiments. However, the advantages, benefits, solutions to problems, and components that may cause an advantage, benefit, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature or component of any or all of the claims. References 102 bodies 104 A variety of sensors 104a pH sensor 106 Central Processing Unit 108 Communication module 108a LoRa-02 SX1278 433MHz transmitter-receiver 110 A drive system 112 Power source

Claims

[1] An underwater data collection system with: an autonomous underwater vehicle (AUV) comprising: a body made of a corrosion-resistant material, the body having a plurality of openings for mounting sensor nodes; a plurality of sensors mounted on the body of the AUV, the sensors comprising: a pH sensor to measure the pH value of the surrounding water; a turbidity sensor to measure the turbidity of the surrounding water a temperature sensor to measure the temperature of the surrounding water; a GPS sensor to determine the position of the AUV; a central processing unit (CPU) housed in the AUV body, the CPU comprising: a Raspberry Pi configured to collect data from the multitude of sensors, process the collected data, and control the operation of the AUV; a communication module comprising a LoRa-02 SX1278 433MHz transceiver, the communication module configured to transmit the processed data in real time to a remote monitoring station or to another AUV; a propulsion system to navigate the AUV autonomously through underwater environments; and a power source configured to power the AUV, the sensors, and the communication module, the power source including at least one rechargeable battery. [2] The system of claim 1, wherein the pH sensor, the turbidity sensor, and the temperature sensor are integrally connected to a sensor mount attached to the AUV body so that the sensors are exposed to the surrounding water to accurately measure the water quality parameters. [3] The system of claim 1, wherein the AUV further comprises a self-cleaning mechanism integrated into the body to prevent biofouling on the sensors, the self-cleaning mechanism comprising a periodic vibration system or a coating material designed to resist the adhesion of marine organisms. [4] The system of claim 1, wherein the LoRa-02 SX1278 433MHz transceiver is configured to communicate with multiple AUVs in a mesh network, each AUV acting as a relay node in the network. [5] The system of claim 1, wherein the Raspberry Pi is programmed with a dynamic technique that adjusts the AUV's navigation path and data sampling frequency based on real-time sensor inputs. [6] The system of claim 1, wherein the AUV has a modular sensor interface in which each sensor of the plurality of sensors is attached to the AUV via detachable sensor nodes, allowing easy replacement or upgrade of individual sensors. [7] The system of claim 1, wherein the AUV is configured to perform autonomous operations for a predetermined duration, wherein the power source is configured to continuously support operation for at least 48 hours based on an energy-efficient mode of operation that balances data collection and propulsion energy consumption. [8] The system of claim 1, wherein the communication module includes a power saving mode that is automatically activated when the AUV is idle or stationary, thereby minimizing power consumption while maintaining the ability to transmit critical data in real time when needed. [9] The system of claim 1, wherein the AUV is equipped with a navigation system comprising an inertial measurement unit (IMU) and depth sensors, the IMU providing real-time orientation and motion data for precise navigation and positioning in three-dimensional underwater space. [10] The system of claim 1, wherein the AUV is capable of performing real-time environmental anomaly detection based on the data received from the sensors, wherein the anomaly detection system identifies significant deviations in water quality parameters and triggers an adaptive response in the AUV's mission plan, including changing its sampling frequency or route.

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