Submersible Docking Navigation Using Motion-Vector Feedback
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Solution Overview
Problem
Current methods for retrieving autonomously navigating submersible vehicles below the water surface are inefficient, particularly in rough weather, as they struggle with accurately determining the motion vector and controlling the vehicle's entry into a docking station, leading to potential damage and increased operational costs due to swinging and wave-related issues.
Innovation Solution
A system that determines the actual motion vector of the submersible body relative to the optimum entry direction using sensors like cameras mounted on the docking station, calculates control signals to align the vehicle's motion vector, and activates remote control mode near the docking station to ensure precise navigation and secure retrieval.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If deck cranes are used to retrieve submersible vehicles from the water surface, then the vehicles can be lifted onto the mother ship, but the vehicles swing during lifting and may contact the ship causing damage
Solution Approach 1:
The patent introduces a docking station as an intermediary structure that receives the submersible vehicle underwater before it is lifted to the surface. The docking station acts as a mediator between the vehicle and the mother ship, allowing the vehicle to be secured in a controlled environment away from the ship's hull during the lifting process, thereby eliminating the swinging and contact damage risks associated with direct crane operations.
2Ease of operation
If the submersible vehicle is hauled up to the air/sea interface, then it can be reached by high waves, but the hoist ropes are briefly relieved and then loaded again causing significant damages
Solution Approach 1:
The docking station serves as an intermediary platform that remains submerged or partially submerged, allowing the vehicle to be transferred to it underwater. This eliminates the need to haul the vehicle completely to the air/sea interface, thereby avoiding the cyclic loading and unloading of hoist ropes that occurs when vehicles are pulled through breaking waves, and preventing damage to both the ropes and the vehicle structure.
3Reliability
If the captain waits for swell and wind to calm down before retrieval in bad weather, then the retrieval can be performed safely, but the operational costs increase significantly
Solution Approach 1:
The docking station is designed as a dynamic system that can operate in rough sea conditions. It includes active stabilization mechanisms and flexible mooring systems that adapt to wave motion, allowing retrieval operations to proceed safely in bad weather without requiring the captain to wait for calm conditions, thereby reducing operational costs and downtime while maintaining safety.
4Manufacturing precision
If remote control mode is activated near the docking station, then the entry precision is improved, but the system complexity increases
Solution Approach 1:
The system employs feedback mechanisms where sensors on the docking station detect the vehicle's approach and the control system adjusts the vehicle's trajectory in real-time. The motion vector determination and control signal generation create a closed-loop feedback system that continuously monitors and corrects the vehicle's entry path, improving precision without requiring overly complex manual intervention systems.
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 enables secure, reliable, and damage-free retrieval of submersible vehicles by accurately controlling their entry into the docking station, even in rough weather conditions, reducing operational costs and minimizing risks to both the vehicle and the mother ship.
Implementation Method 1
A rope, at the end of which is an acoustic transponder, is lowered into the water from the mother ship. The AUV with folded out docking apparatus at the nose controls this transponder
Data Source
AI summary
A system for navigation of an autonomously navigating submersible body during entry into a docking station below the water surface includes a determiner for determining an actual motion vector of the autonomously navigation submersible body in relation to the set motion vector describing the optimum entry direction into the docking station and a calculating unit. The calculating unit serves to determine the deviation between the actual motion vector and the set motion vector to determine control vectors based on the deviation and to thereby control the autonomously navigating submersible body during entry.