Detect Submerged Depth

Purpose

The purpose of this subsystem is to assist the robot in determining its relative spacial location when submerged in aqueous environments

Design Objective

When navigating submerged environments, the robot must be able to gauge the depth of the robot in water and detect its proximity to the ground. This can be achieved via a variety of methods:

Depth Gauge

  • Sensor specifically designed for measuring a change in pressure
  • On commercial and military ships, water depth is typically measured by echo sounders, depending on the depth the vehicle is expected to reach. 
  • Important factors: device to generate and send sound waves and receive the reflected waves; timer calibrated at the speed of sound in water.
    • Modern systems usually use a transmitter that supplies a pulse of electrical energy which is converted to an acoustical pressure wave by a transducer. The transducer also receives the echo, converts it back to electrical and the signal is amplified and applied to an indicator.

Pressure Sensor inside a waterproof bladder

  • One pressure transducer inside vessel another outside vessel
  • Inside of vessel/hull will have to be positively pressurized to counteract the pressure from being submerged

Relevant Codes and Standards

Citations