Magnetic Coil Guidance for Precise Subsea Docking Alignment
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Solution Overview
Problem
Current subsea drone navigation systems lack the precision needed for accurate docking onto charging stations, with onboard navigation systems offering only ±50 cm accuracy, and visual navigation being unreliable due to water conditions, while inductive connector systems require precise alignment of primary and secondary coils to transfer electrical energy efficiently.
Innovation Solution
The use of a magnetic field emitted by a primary coil on the docking port, detected by a secondary coil on the submarine vessel, to guide the vessel into precise alignment, with modulation of the magnetic field for identification and verification of the correct docking port, and additional electronics to manage capacitance and enhance navigation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If inertial navigation system and visual navigation system are used for docking, then navigation capability is provided, but positioning accuracy deteriorates to ±50 cm due to water particles reducing visibility and covering guidance surfaces
Solution Approach 1:
The patent introduces magnetic field lines as an intermediary medium between the docking port and submarine vessel. The primary coil generates magnetic field lines that extend into the water, and the submarine vessel detects these field lines to determine its position and orientation relative to the docking port, bypassing the need for visual guidance systems that fail in particle-filled water
Solution Approach 2:
The patent replaces the mechanical/visual navigation system with a magnetic field-based detection system. Instead of relying on optical cameras and visual markers that are blocked by water particles, the system uses magnetic field line detection to achieve precise positioning and docking
2Strength
If primary coil and secondary coil are surrounded by metal reinforcement to protect from hydrostatic pressure and impact, then structural strength is improved, but magnetic field distortion occurs when reinforcement is in close proximity to the emitting coil
Solution Approach 1:
The patent extracts the metal reinforcement element from the immediate vicinity of the primary coil. By positioning the reinforcement at a distance from the emitting coil, the system maintains both the protective function against hydrostatic pressure and impact, and the magnetic field accuracy needed for precise docking
Solution Approach 2:
The patent applies different material properties to different regions: the primary coil area uses non-magnetic or low-magnetic-interference materials to preserve magnetic field quality, while distant reinforcement structures use strong mechanical materials for protection against pressure and impact
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
Enables precise docking of the submarine vessel within ±10 mm accuracy, even in challenging underwater conditions, by utilizing the magnetic field as a homing aid and optimizing the navigation system for improved alignment and energy transfer efficiency.
Implementation Method 1
The docking port is provided with at least one primary coil (41) arranged for emitting a magnetic field
Implementation Method 2
The submarine vessel is provided with means for measuring a strength of the magnetic field received by the second coil (42)
Implementation Method 3
The docking port and the submarine vessel are provided with means for wireless transfer of electrical energy by induction
Data Source
AI summary
A system has a submarine vessel and a submarine docking port. The docking port is arranged for transfer of electrical energy to the submarine vessel when the submarine vessel is docked. The submarine vessel has a submarine navigation system. The docking port has a primary coil for emitting a magnetic field. The submarine vessel has a secondary coil. The submarine vessel has means for measuring a strength of the magnetic field received by the secondary coil. The submarine vessel has a positioning electronics that guides the submarine vessel in a horizontal plane to maximize the measured local magnetic field. The positioning electronics guides the submarine vessel in the vertical direction when the measured magnetic field is at a local maximum and the magnetic field increases when the submarine vessel descends towards the primary coil. Also, a method is for docking a submarine vessel on a submarine docking port.