Described herein are methods and devices for improved location of any and all underwater structures or equipment installed underwater. In particular, systems are disclosed that combine optical and acoustic metrology for locating objects in underwater environments. The systems allow for relative positions of objects to be determined with great accuracy using optical techniques, and support enhanced location of devices that utilize acoustic location techniques. In addition, location information can be provided by the system even in conditions that make optical metrology techniques impossible or impractical.

Provided is a mobile object including: a mobile object information transmitting unit configured to transmit, to another mobile object by optical wireless communication by a first optical wireless communication unit, first mobile object information including first inertial measurement information and first body control information; a mobile object information receiving unit configured to receive, from the another mobile object by optical wireless communication by the first optical wireless communication unit, second mobile object information including second inertial measurement information and second body control information; and an optical axis direction control unit configured to control a direction of an optical axis of the first optical wireless communication unit on a basis of the first mobile object information and the second mobile object information.

The invention relates to a self-cleaning optical housing arrangement comprising a first cylindrical shell, a shaft, a motor, a second cylindrical shell element, a cleaning pad, a shaft magnet and a cylinder magnet. The shaft magnet and the cylinder magnet are arranged in order to magnetically interact such that a rotation of the shaft causes the shaft magnet to exert a force on the cylinder magnet that further causes the second cylindrical shell element to rotate with the shaft. The cleaning pad will upon rotation of the shaft and the second cylindrical shell element, sweep across and thereby clean at least a part of the outer surface of the first cylindrical shell.

The invention relates to a self-cleaning optical housing arrangement comprising a first cylindrical shell, a shaft, a motor, a second cylindrical shell element, a cleaning pad, a shaft magnet and a cylinder magnet. The shaft magnet and the cylinder magnet are arranged in order to magnetically interact such that a rotation of the shaft causes the shaft magnet to exert a force on the cylinder magnet that further causes the second cylindrical shell element to rotate with the shaft. The cleaning pad will upon rotation of the shaft and the second cylindrical shell element, sweep across and thereby clean at least a part of the outer surface of the first cylindrical shell.

A system for autonomous ocean data collection includes at least one sensor capable of collecting sensor data, at least one transmission device, and at least one computing device comprising one or more hardware processors and memory coupled to the one or more hardware processors, the memory storing one or more instructions which, when executed by the one or more hardware processors, cause the at least one computing device to generate data for transmission based on the sensor data collected by the at least one sensor, and cause the at least one transmission device to transmit the data.

A system for autonomous ocean data collection includes at least one sensor capable of collecting sensor data, at least one transmission device, and at least one computing device comprising one or more hardware processors and memory coupled to the one or more hardware processors, the memory storing one or more instructions which, when executed by the one or more hardware processors, cause the at least one computing device to generate data for transmission based on the sensor data collected by the at least one sensor, and cause the at least one transmission device to transmit the data.

A deep-sea mining apparatus for retrieving deep-sea nodules is provided. The deep-sea mining apparatus includes a buoyancy system, a payload hopper, an underwater autonomous vehicle (UAV), and a collector system. The collector system includes a controller system and a perception system communicatively coupled to the controller system and configured to track the deep-sea mining system as the deep-sea mining system hovers over ore nodules laying on a seabed. The collector system further includes one or more robotic arms controlled via the controller system, wherein each of the one or more robotic arms is attached to a bottom surface of the UAV and is equipped with a grasping mechanism configured to pick up the ore nodules from the seabed.

A deep-sea mining apparatus for retrieving deep-sea nodules is provided. The deep-sea mining apparatus includes a buoyancy system, a payload hopper, an underwater autonomous vehicle (UAV), and a collector system. The collector system includes a controller system and a perception system communicatively coupled to the controller system and configured to track the deep-sea mining system as the deep-sea mining system hovers over ore nodules laying on a seabed. The collector system further includes one or more robotic arms controlled via the controller system, wherein each of the one or more robotic arms is attached to a bottom surface of the UAV and is equipped with a grasping mechanism configured to pick up the ore nodules from the seabed.

An underwater watercraft including a passenger compartment and an ingress/egress port in which the watercraft has buoyancy and center of gravity adjusted to maintain a generally level or other desired attitude when submerged, and an optionally angled attitude at a water surface for ingress/egress. The attitude is also adjustable via the placement of ballast and optionally including a movable ballast that adjusts the location of the center of gravity as desired. The ingress-egress port optionally includes an entry elevated from a main passenger compartment and including a riser and optionally removable or concealable handrails. The ingress-egress port has an angled orientation in a submerged mode, and an optional orientation generally parallel to the water surface or angled but above the surface in a surface mode.

An underwater watercraft including a passenger compartment and an ingress/egress port in which the watercraft has buoyancy and center of gravity adjusted to maintain a generally level or other desired attitude when submerged, and an optionally angled attitude at a water surface for ingress/egress. The attitude is also adjustable via the placement of ballast and optionally including a movable ballast that adjusts the location of the center of gravity as desired. The ingress-egress port optionally includes an entry elevated from a main passenger compartment and including a riser and optionally removable or concealable handrails. The ingress-egress port has an angled orientation in a submerged mode, and an optional orientation generally parallel to the water surface or angled but above the surface in a surface mode.