公开(公告)号：US20250044379A1

公开(公告)日：2025-02-06

申请号：US18717953

申请日：2022-12-09

Applicant: Argeo Robotics AS

Inventor： Johan Mattsson ,  Thorbjørn Rekdal ,  Trond E. Figenschou Crantz

IPC: G01R33/022 ,  B63G8/00 ,  G01R33/00 ,  G01R33/02 ,  G01V3/15

Abstract: The disclosure relates to a system for measuring electric and/or magnetic field of an object, the system comprising: an underwater vehicle comprising: a plurality of links (2a-2d) that are connected to one another by joint modules for generating a flexural motion of the underwater vehicle: wherein the flexural motion devices enable movement of the underwater vehicle and control of the orientation and/or location of the underwater vehicle, wherein the plurality of the links define a hull having a first end (4a) and a second end (4b): a sensor arrangement comprises: a first electrode (6a) mounted on the first end (4a) of the hull: a second electrode (6b) mounted on the second end (4b) of the hull: the first and the second electrode configured to measure electric field of an object, the electric field data sampled with sampling frequencies between 1 and 300 Hz; and/or a first single, 2-, or 3-axes magnetometers (7a) mounted inside the first end (4a) of the underwater vehicle: a second single, 2-, or 3-axes magnetometers (7b) mounted inside the second end (4b) of the underwater vehicle: the single, 2-, or 3-axes magnetometers configured to measure a magnetic field of the object, wherein distance and relative position between the first end of the hull and the second end of the hull is adjustable to enable measuring electric and/or magnetic field in one or more planes/directions. The disclosure further relates to a method of measuring electric and/or magnetic field of an object with an underwater vehicle.

公开(公告)号：US20240248482A1

公开(公告)日：2024-07-25

申请号：US18562781

申请日：2022-04-29

Applicant: Argeo Robotics AS

Inventor： Thorbjørn Rekdal ,  Trond E. Figenschou Crantz

IPC: G05D1/242 ,  B63G8/00 ,  G01S15/00 ,  G01S15/89 ,  G05D107/00 ,  G05D109/30 ,  G05D111/20

CPC classification number: G05D1/242 ,  B63G8/001 ,  G01S15/003 ,  G01S15/8902 ,  B63G2008/004 ,  G05D2107/25 ,  G05D2109/38 ,  G05D2111/20

Abstract: A method for steering an Autonomous Underwater Vehicle along an object buried below a seabed: the AUV being equipped with at least one acoustic transmitter for generating acoustic signal towards the buried object and the seabed; arranging a first sensor assembly substantially flush with the AUV hull of the starboard side of the AUV for recording reflected acoustic signal from the buried object and the seabed with the first sensor assembly comprising one or more acoustic sensors, arranging a second sensor assembly substantially flush with the AUV hull of the port side of the AUV for recording reflected acoustic signal from the buried object and the seabed with the second sensor assembly comprising one or more acoustic sensors, generating an acoustic signal with a center frequency range between 1 kHz and 24 kHz with the at least one acoustic transmitter, recording reflected energy from the seabed and recording reflected energy from the buried object with the first and second sensors, registering reflected energy from the buried object in the recorded reflected energy data provided by the first and the second sensors and distinguishing the buried object from the seabed as the later arrival of the reflected energy of the seabed and the buried object, determining which of starboard and port side the object lies relative the AUV by determining which sensor assembly receiving the reflected energy data from the buried object first, and navigating the AUV towards the buried object based on which of starboard and port side the object lies relative the AUV.