Underwater AUV Handover Using Acoustic Positioning
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Solution Overview
Problem
The use of autonomous underwater vehicles (AUVs) for long-term work in water bodies is hindered by the need for frequent charging and positioning accuracy issues, leading to increased work time and vehicle size due to the requirement for large capacity batteries and transponders as markers.
Innovation Solution
Implementing a system where a second AUV replaces the first AUV, allowing for continuous operation without large capacity batteries and eliminating the need for transponders by using acoustic positioning and target detection for precise replacement and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of moving object
If a large capacity battery is mounted on the underwater vehicle to enable long-term work without charging, then the work time is extended, but the vehicle size increases which adversely affects operability
Solution Approach 1:
The system divides the work into multiple segments performed by different AUVs. Instead of one AUV performing all work continuously, multiple AUVs with standard battery capacities work in sequence, each completing a portion of the task before returning for charging. This eliminates the need for any single AUV to have a large capacity battery while maintaining continuous operation.
Solution Approach 2:
The patent combines multiple AUVs into a coordinated system where they work together to achieve long-term operational capability. By merging the capabilities of multiple smaller AUVs, the system achieves the equivalent of a single large-capacity battery AUV without the size penalty, as each AUV maintains standard dimensions for optimal operability.
2Duration of action of moving object
If the underwater vehicle returns to the surface ship for charging during long-term work, then the vehicle can continue operation, but the work is suspended during the return and charging time which increases total work time
Solution Approach 1:
The work is segmented into multiple portions that can be performed by different AUVs. When one AUV needs to return for charging, another AUV can immediately take over and continue the work without interruption. This segmentation of both work tasks and vehicle operations eliminates work suspension time while maintaining continuous progress.
Solution Approach 2:
The system ensures continuous useful action by having multiple AUVs available to perform work. While one AUV is returning for or undergoing charging, another AUV is simultaneously performing work tasks. This overlapping of charging operations with work operations eliminates gaps in productivity and maintains continuous progress on the mission objectives.
3Measurement precision
If a transmitter is installed at the work suspension spot to enable the underwater vehicle to return to the spot, then the vehicle can resume work accurately, but the complexity and cost of the system increases
Solution Approach 1:
Instead of installing physical transmitters at work suspension spots, the system creates a virtual copy of the positioning information by having the AUV transmit its location data and work status. The AUV uses acoustic positioning to determine its location relative to the surface ship and other AUVs, then communicates this information to resume work at the correct position without requiring permanent transmitter installations at each work spot.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach reduces work time, minimizes AUV size, and eliminates the need for transponders, enabling efficient and accurate long-term underwater operations without battery size increases or marker installations.
Implementation Method 1
an acoustic positioning device configured to measure a relative position of the first underwater vehicle relative to the second underwater vehicle
Implementation Method 2
a target detector configured to detect a work target and acquire a position of the work target relative to the second underwater vehicle
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
An underwater vehicle system (100) according to one aspect of the present invention includes: a first underwater vehicle (10) configured to perform work in water while moving in a predetermined proceeding direction; and a second underwater vehicle (30) configured to replace the first underwater vehicle (10) and perform work in water. When the second underwater vehicle (30) replaces the first underwater vehicle (10), the second underwater vehicle (30) approaches the first underwater vehicle (10) based on a signal transmitted from the first underwater vehicle (10).