System and method for autonomous tracking and imaging of a target

Patent metadata

Field	Value
Publication number	US-10303995-B2
Application number	US-201715707900-A
Country	US
Kind code	B2
Filing date	Sep 18, 2017
Priority date	Sep 16, 2016
Publication date	May 28, 2019
Grant date	May 28, 2019

Abstract

A submersible tag device configured to operate within a liquid medium, including a liquid-tight housing defining a chamber that remains isolated from the liquid medium when the housing is immersed in the liquid medium, and an attachment mechanism configured to attach to a target selected by a user. A communication module is disposed in the chamber, the module including a receiver, a controller configured to receive input from the receiver, a power source operatively connected to at least the controller, and data storage. When the tag device is immersed in the liquid medium, the receiver is configured to receive a command signal through the liquid medium.

First claim

What is claimed is:

1. A submersible tag device configured to operate within a liquid medium, comprising:
a liquid-tight housing defining a chamber that remains isolated from the liquid medium when the housing is immersed in the liquid medium;
an attachment mechanism configured to attach to a target selected by a user; and
a communication module disposed in the chamber, the module including a receiver, a controller configured to receive input from the receiver, a power source operatively connected to at least the controller, and data storage;
wherein the attachment mechanism includes an actuator mechanism having a release mechanism, responsive to a communication from the controller, configured to mechanically release the tag device from the target; and
wherein, when the tag device is immersed in the liquid medium, the receiver is configured to receive a command signal through the liquid medium.

2. The tag device of claim 1 wherein the communication module further includes a transmitter configured to transmit a data signal through the liquid medium, and the controller is also configured to provide output to the transmitter.

3. The tag device of claim 1 wherein the release mechanism is configured to mechanically release the tag device from the target when a release command signal is received by the receiver.

4. The tag device of claim 1 further including an imaging system.

5. The tag device of claim 1 further including a locator system to assist recovery of the tag device when proximate to an upper surface of the liquid medium.

6. The tag device of claim 1 further including a buoyancy compensation mechanism.

7. The tag device of claim 1 wherein the attachment mechanism includes at least one of an intramuscular mount, an external mount, or bracket mount.

8. The tag device of claim 1 wherein the communication frequency range is approximately 10 kHz to 100 kHz.

9. The tag device of claim 1 wherein the controller is configured with a plurality of mechanical release parameters including being responsive to at least two of (i) an external release command, (ii) a not-to-exceed depth, (iii) a low-power indication, or (iv) a timed release.

10. A system for locating a target on or in a liquid medium, comprising:
at least a first vehicle configured to travel autonomously on or in the liquid medium and configured to send at least one command signal and to receive data signals; and
a submersible tag device including (i) a liquid-tight housing defining a chamber that remains isolated from the liquid medium when the housing is immersed in the liquid medium, (ii) an attachment mechanism configured to attach to a target selected by a user, and (iii) a communication module disposed in the chamber, the module including a receiver, a controller configured to receive input from the receiver, a power source operatively connected to at least the controller, and data storage;
wherein, when the tag device is immersed in the liquid medium, the receiver is configured to receive the at least one command signal through the liquid medium and the at least first vehicle is configured to autonomously track three-dimensionally and follow the submersible tag device.

11. The system of claim 10 wherein the communication module further includes a transmitter configured to transmit a data signal through the liquid medium, and the controller is also configured to provide output to the transmitter.

12. The system of claim 10 further comprising at least a second vehicle in communication with the tag device.

13. The system of claim 12 wherein the second vehicle is selected from the group comprising an autonomous underwater vehicle, a remotely operated vehicle, a vessel, a glider, a submarine, a mini submarine, and a human-occupied vehicle.

14. The system of claim 11 wherein the system is adapted to operate at depth greater than 100 meters.

15. The system of claim 11 wherein the attachment mechanism includes a multi-tiered release capability including at least one of a command-initiated release, a depth-dependent release, a timed-based release, or a power level-based release.

16. The system of claim 11 wherein at least the first vehicle is capable of three-dimensional autonomous tracking, following within the liquid medium, and close distance recording of the target.

17. A method of three-dimensional autonomous tracking and following of a movable target on or in a liquid medium, the method comprising:
selecting at least a first tracking vehicle configured to travel autonomously on or in the liquid medium and configured to send at least one command signal;
selecting at least one submersible tag device including (i) a liquid-tight housing defining a chamber that remains isolated from the liquid medium when the housing is immersed in the liquid medium, (ii) an attachment mechanism configured to attach to a target selected by a user, and (iii) a communication module disposed in the chamber, the module including a receiver, a controller configured to receive input from the receiver, a power source operatively connected to at least the controller, and data storage;
securing the tag device to the target utilizing the attachment mechanism to achieve a tagged target;
utilizing the first tracking vehicle to autonomously track the submersible tag device in three dimensions of movement after attachment to the target and to follow the tagged target; and
receiving at least one command signal through the liquid medium from the tracking vehicle to the tag device to alter a condition of the tag device.

18. The method of claim 17 further including utilizing the tracking vehicle to maintain at least real-time locational information of the tagged target.

19. The method of claim 17 further including employing one or more approach strategies to monitor the tagged target.

20. The method of claim 17 further including positioning the tracking vehicle at a depth that is not the same as depth of the tagged target.

21. The method of claim 17 wherein the communication module further includes a transmitter, the controller is also configured to provide output to the transmitter, and further including transmitting data signals from the tag device through the liquid medium to at least one of the tracking vehicle, a surface vessel, an aerial drone, and a satellite.

22. The method of claim 17 wherein the attachment mechanism includes a multi-tiered release capability including at least one of a command-initiated release, a depth-dependent release, a timed-based release, or a power level-based release.

23. A submersible tag device configured to operate within a liquid medium, comprising:
a liquid-tight housing defining a chamber that remains isolated from the liquid medium when the housing is immersed in the liquid medium;
an attachment mechanism configured to attach to a target selected by a user; and
a communication module disposed in the chamber, the module including a receiver, a transmitter, a controller configured to receive input from the receiver and provide output to the transmitter, a power source operatively connected to at least the controller, and data storage;
wherein, when the tag device is immersed in the liquid medium, the receiver is configured to receive at least one first signal through the liquid medium at a receiving frequency and provide said at least one first signal to the controller, and the transmitter is configured to transmit at least one second signal through the liquid medium at a

Assignees

• Woods Hole Oceanographic Inst

Inventors

• Kukulya Amy L
• Austin Thomas
• Jaffre Frederic

Classifications

• G01S15/74 Primary

  Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe · CPC title

• G01S15/89

  for mapping or imaging · CPC title

• G06K19/07749 Primary

  the record carrier being capable of non-contact communication, e.g. constructional details of the antenna of a non-contact smart card · CPC title

• G06K19/00

  Record carriers for use with machines and with at least a part designed to carry digital markings · CPC title

• G01S15/66

  Sonar tracking systems · CPC title