Autonomous Subsea Inspection Vehicle for Precise Object Tracking
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Solution Overview
Problem
Current subsea inspection methods using manned vehicles or ROVs are costly and inefficient, requiring significant resources and fuel, while existing automated solutions lack effective autonomous navigation and positioning capabilities for precise inspections.
Innovation Solution
An autonomous subsea vehicle equipped with propulsion systems, navigation, deployable semi-rigid arms, and various sensors for navigation and inspection, which autonomously navigates and positions itself near underwater objects using a controller and position sensors to maintain appropriate orientation and distance for inspection, enabling efficient and precise data gathering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a vessel with ROV is used for subsea inspection, then inspection capability is provided, but operational cost and fuel consumption increase significantly
Solution Approach 1:
The AUV performs self-navigation and self-positioning using onboard sensors (GPS, depth sensor, gyro sensor) and control algorithms, eliminating the need for a support vessel and crew. The vehicle autonomously maintains its position relative to the subsea structure through continuous sensor feedback and propulsion adjustments.
Solution Approach 2:
The patent replaces the mechanical vessel-based ROV system with an autonomous underwater vehicle that uses electronic sensors and computational control algorithms for navigation and positioning, substituting heavy mechanical support infrastructure with lightweight electronic systems.
2Reliability
If a vessel with ROV is used for subsea inspection, then inspection capability is provided, but operational cost increases due to crew and vessel requirements
Solution Approach 1:
The AUV autonomously performs navigation, positioning, and inspection operations without human intervention during deployment. The onboard controller processes sensor data and automatically adjusts propulsion and orientation to maintain optimal inspection conditions.
Solution Approach 2:
The single AUV integrates multiple functions including navigation (GPS, depth sensing), positioning (gyro sensing, orientation control), and inspection capabilities in one autonomous platform, replacing the multi-component vessel-ROV-crew system.
3Use of energy by moving object
If AUV is used for autonomous inspection, then operational cost and fuel consumption are reduced, but autonomous navigation and positioning precision must be maintained
Solution Approach 1:
The AUV continuously monitors its position and orientation using GPS, depth sensors, and gyro sensors, comparing actual measurements with target positions. The controller processes this feedback information and automatically adjusts propulsion forces and vehicle orientation to correct deviations and maintain precise positioning relative to the subsea structure.
Solution Approach 2:
The positioning system dynamically adjusts the AUV's propulsion and orientation in real-time based on changing environmental conditions and measurement feedback, allowing the vehicle to adaptively maintain precise position despite water currents or other disturbances.
Data Source
AI summary
A subsea vehicle capable of supporting inspection of underwater objects while underway includes a body that provides a capability to allow the subsea vehicle to submerge underwater and follow or position near an object while maintaining an orientation to the object appropriate for inspection of, and safety requirements for, the object. The vehicle includes a set of deployable, semi-rigid arms to support the movement of inspection sensor probes near or lightly touching the inspection target with the probes. A controller helps tracks the intended inspection object using various sensor inputs along with a priori knowledge of the object to drive and position the subsea vehicle such that the appropriate orientation to the inspection target is maintained.