Unmanned Surface Vehicle Position Control via Wire Tension and Rudder
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Solution Overview
Problem
Conventional position control systems for underwater investigation robots in running water environments face challenges such as high investigation costs, impracticality during rapid flows or swollen rivers, and inefficiencies in power consumption due to the use of thrusters and air rudders, which also introduce noise in sonar measurements.
Innovation Solution
A position control system utilizing a rudder system on an unmanned surface vehicle, a mooring device fixed on the ground, and a wire between the mooring device and the vehicle, with a GPS, inertia measurement apparatus, angle sensing, and rudder control mechanisms to control the vehicle's position without thrusters, incorporating mechanisms for shifting the wire connection point, center of gravity, and rudder positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a thruster-based position control system is used for an unmanned surface vehicle in running water, then the robot can actively move and maintain position, but the power consumption increases and noise is generated that interferes with sonar measurements
Solution Approach 1:
The patent extracts and removes the thruster component from the unmanned surface vehicle, replacing active propulsion with a passive wire-based positioning system. The thruster is completely taken out of the system, eliminating the source of noise interference while position control is achieved through wire tension management from the shore-based reel system
Solution Approach 2:
The patent introduces a wire and reel system as an intermediary between the shore and the unmanned surface vehicle. This intermediary mechanism transfers control forces from the shore to the vehicle without requiring onboard propulsion, thereby eliminating noise generation while maintaining position control capability
2Measurement precision
If a GPS and inertial measurement apparatus are used to sense position and posture, then positioning accuracy is improved, but device complexity increases
Solution Approach 1:
The patent combines GPS and inertial measurement apparatus into an integrated position sensing system. The two sensing components are merged and their data are processed together through coordinate transformation, achieving accurate position and posture measurement while sharing computational resources and reducing overall system complexity
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 solution reduces power consumption, prevents noise interference in sonar measurements, and ensures the vehicle's stability and retrievability, enabling efficient and accurate underwater inspections without the need for thrusters.
Implementation Method 1
at least one rudder equipped on said unmanned surface vehicle... the rudder control means drive-controls the rudder
Implementation Method 2
the unmanned surface vehicle has a GPS and an inertia measurement apparatus for sensing the position and posture of the unmanned surface vehicle
Implementation Method 3
the unmanned surface vehicle has a GPS and an inertia measurement apparatus for sensing the position and posture of the unmanned surface vehicle
Implementation Method 4
a wire fed and wound from the mooring device; an unmanned surface vehicle connected at a tip end of the wire
Data Source
AI summary
An unmanned surface vehicle for underwater investigation that is free from negative effect of a thruster is provided. A position control system for an unmanned surface vehicle includes: at least one mooring device fixed on the ground; a wire fed and wound from the mooring device; an unmanned surface vehicle connected at the tip end of the wire; and at least one rudder equipped on the unmanned surface vehicle, wherein the mooring device includes a mooring device control device for controlling the feeding and winding of the wire, and a rudder control device for drive-controlling the rudder, the mooring device control device and the rudder control device control the position of the unmanned surface vehicle to reach the target.