Underwater Pipeline Search Positioning With Error-Aware Crossing Detection
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Solution Overview
Problem
Existing underwater work systems face inefficiencies in locating pipelines on the ocean floor due to measurement errors and the need for repeated detection efforts, which hinder accurate positioning and inspection.
Innovation Solution
An underwater work system comprising a surface ship, an autonomous underwater vehicle, and an acoustic positioning system that uses sound waves to measure relative positions, adjusts for measurement errors, and performs crossing detection to efficiently locate pipelines by optimizing the overlap between measurement error regions and expected pipeline positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the underwater vehicle performs searching work to locate pipelines, then the efficiency of pipeline work improves, but measurement errors cause the vehicle to perform unnecessary repeated detection efforts
Solution Approach 1:
The system performs preliminary actions by calculating the measurement error region before detection and pre-positioning the underwater vehicle outside this error region. By anticipating where measurement errors might occur and positioning the vehicle accordingly in advance, the system avoids unnecessary repeated detection efforts and improves overall efficiency.
2Measurement precision
If the underwater vehicle detects pipelines while crossing the expected laid region, then accurate pipeline location is achieved, but measurement error regions may cause false negatives requiring additional detection attempts
Solution Approach 1:
The system applies preliminary anti-action by proactively identifying and avoiding the measurement error region before detection problems occur. By calculating where measurement errors are likely to occur and positioning the vehicle outside these regions, the system prevents false negatives and unreliable detections, thereby improving detection reliability without sacrificing precision.
3Reliability
If the underwater vehicle is positioned to avoid measurement error regions, then detection reliability improves, but the complexity of position calculation and adjustment increases
Solution Approach 1:
The system uses feedback by continuously monitoring the relationship between the underwater vehicle's position and the calculated measurement error region. The circuitry acquires relative position data, calculates error regions based on this data, and adjusts the vehicle's position accordingly. This closed-loop feedback mechanism improves detection reliability while managing system complexity through automated calculations rather than manual intervention.
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
The system efficiently locates pipelines with reduced unnecessary work by accounting for measurement errors and pipeline movement, allowing for accurate detection in fewer attempts and improving overall inspection efficiency.
Implementation Method 1
a wave transmitter that is mounted on the surface ship and transmits a sound wave used to measure a relative position of the underwater vehicle relative to the surface ship
Data Source
AI summary
An underwater work system of the present disclosure acquires a relative position of an underwater vehicle relative to a surface ship at the start of searching work, the relative position being measured based on a sound wave transmitted from a wave transmitter. The underwater work system calculates a position of the underwater vehicle based on the acquired relative position. When a measurement error region whose center corresponds to the calculated position of the underwater vehicle and an expected laid region of a pipeline extending in a predetermined direction overlap each other, the underwater work system moves the underwater vehicle to such a position that the measurement error region and the expected laid region do not overlap each other, and then, makes the underwater vehicle perform crossing detection in which the underwater vehicle detects the presence or absence of the pipeline while crossing the expected laid region.