UNDERWATER REMOTELY OPERATED VEHICLE

Abstract

A remotely operated underwater vehicle system includes a hull having a front end and a tail positioned to the rear of the front end. The remotely operated underwater vehicle may include a first and second side thrust module configured to drive the vehicle in forward and reverse directions and removably connected to the hull, and a rear thrust module configured to drive the tail up and down and removably connected to the tail. The vehicle may include a tether and buoy to facilitate communication with a remote input device. A power source, such as a battery, may be positioned in the hull to power the vehicle and the buoy. The buoy may house a communication source configured to communicate with the input device. The tether is configured to transfer power and communication signals from the buoy to the hull. The buoy may float on a water surface to relay communication between the input device and the hull.

Description

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority to U.S. Provisional Patent Application No. 62/352,105 filed on Jun. 20, 2016 and entitled UNDERWATER REMOTELY OPERATED VEHICLE, the disclosure of which is hereby incorporated by reference.

FIELD OF INVENTION

The present invention generally relates to the field of marine technology, specifically small, observation-class remotely operated vehicles.

BACKGROUND

Remotely controlled vehicles and devices are commonly used for recreational, observational, and other purposes. While remote control land vehicles have been designed and used for years, recently there has been an increase in interest and demand for remotely controlled air and underwater vehicles. Each of these types of vehicles have unique design challenges.

During the design phase of underwater remotely operated vehicles, it is currently the industry standard to overlook hydrodynamic efficiency in exchange for robustness, reliability, and simplicity. The design of these vehicles are often characterized by a square chassis with thrusters attached at strategic points to achieve sufficient control of the yaw axis, forward and reverse functions, as well as depth control. However, this design lacks in hydrodynamic efficiency and fails to reduce drag and power consumption.

Moreover, the propulsion and steering designs of most current underwater remotely controlled vehicles are lacking in several areas. There are two commonly used methods of underwater propulsion and steering currently in use for underwater remote operated vehicles. The first is a three thruster configuration in which one thruster is positioned vertically to control the device's depth, while the remaining two are positioned horizontally to control the yaw axis, as well as forward and reverse functions. Each thruster consists of a brushless-type electric motor, motor shaft adapter, propeller, and propeller shroud. This configuration affords the vehicle fine-tuned control, allowing yaw and depth control without the need for forward motion.

The second configuration consists of a single thruster positioned at the rear of the vehicle for forward and reverse control, while using motor-actuated external fins to control yaw, roll, and pitch. This system affords the vehicle intuitive control and lower cost due to the elimination of two thrusters, however, tight-space control is lost due to the need for forward motion to achieve yaw, pitch, and roll control. In some cases, active ballast is used to control the vehicle's depth.

Accordingly, an underwater remotely controlled vehicle is needed.

SUMMARY

A remotely operated underwater vehicle system is generally presented. The underwater vehicle system includes a hull having a front end and a tail positioned to the rear of the front end. A first side thrust module connected to a first side of the hull and a second side thrust module connected to a second side of the hull. The first and second side thrust modules are configured to drive the hull in a forward or reverse direction with respect to the front end and the tail. A rear thrust module is connected to the tail of the hull. The rear thrust module configured to drive the tail in an upward or downward direction, approximately perpendicular to the forward and reverse directions of the first and second side thrusters.

In an embodiment, the first and second side thrust modules may be removably connected to the hull. The rear thrust module may further be removably connected to the hull. The thrust modules may include a receptacle configured to engage a similar pin or screw configuration on the hull to connect the thrust module and relay power and communication signals from the hull to the thrust modules.

The remotely operated underwater vehicle system may be configured to communicate with a remote input device. In an embodiment, the underwater vehicle system may include a tether interconnecting the hull and a buoy. The buoy may include a power source configured to provide power to the underwater vehicle system and a communication source configured to communicate with the input device. The tether is configured to transfer power and communication signals from the buoy to the hull. The buoy may float on a water surface to relay communication between the input device and the hull.

In an embodiment, the underwater vehicle system may include a camera positioned in the hull. The camera may be positioned to capture images exterior to the hull. The image data may be transferred to the buoy by way of the tether and may be relayed to from the buoy to the input device using a remote communication network, such as Wi-Fi, cellular network, or the like.

BRIEF DESCRIPTION OF THE DRAWINGS

The operation of the invention may be better understood by reference to the detailed description taken in connection with the following illustrations, wherein:

FIG. 1 illustrates a perspective view an underwater remotely operated vehicle system;

FIG. 2 illustrates a perspective view of an underwater remotely operated vehicle;

FIG. 3 illustrates a top assembly view of an underwater remotely operated vehicle;

FIG. 4 illustrates a front view of an underwater remotely operated vehicle;

FIG. 5 illustrates a side view of an underwater remotely operated vehicle;

FIG. 6: illustrates a bottom view of an underwater remotely operated vehicle;

FIG. 7 a side cutaway view of an underwater remotely operated vehicle;

FIG. 8 illustrates a perspective view of a side thrust module; and

FIG. 9 illustrates a perspective view of a rear thrust module.

DETAILED DESCRIPTION

Reference will now be made in detail to exemplary embodiments of the present invention, examples of which are illustrated in the accompanying drawings. It is to be understood that other embodiments may be utilized and structural and functional changes may be made without departing from the respective scope of the invention. Moreover, features of the various embodiments may be combined or altered without departing from the scope of the invention. As such, the following description is presented by way of illustration only and should not limit in any way the various alternatives and modifications that may be made to the illustrated embodiments and still be within the spirit and scope of the invention.

An underwater remotely operated vehicle system (“ROV system”) 10 is generally presented. The ROV system 10 is configured to allow a user to control movement of a remotely operated vehicle (“ROV”) 12 while the ROV 12 is underwater. The underwater ROV 12 is designed to provide unique modularity that allows for customization for specific applications, as described further below. The features of the vehicle set forth herein provide various additional benefits, including optimizing hydrodynamic efficiency and reducing power requirements, decreasing the drag profile, and increasing strength and stability, as well as other added benefits.

FIG. 1 illustrates an ROV system 10. The ROV system generally comprises the ROV 12, a buoy 14, and a tether 16 connected the buoy 14 and the ROV 12. When placed in water, the buoy 14 is designed to float atop the water surface while the ROV is controlled to move beneath the water surface.

The buoy 14 may be linked to an input device (not shown). The input device may be any appropriate device configured to provide input and control information, such as speed and direction information, to the ROV 12. In an embodiment, the buoy 14 may be configured to receive a wireless signal, such as a Wi-Fi signal, from the input device, such as a mobile hand held device. It will be appreciated, however, that the remote communication between the buoy 14 and the input device may be any appropriate type of wireless communication, including Bluetooth, cellular communication, and the like. The buoy 14 may float in the water and receive the input signal remotely from the input device. It will be appreciated, however, that the buoy 14 may alternatively receive a hard wired signal from the input device.

The buoy 14 may be configured to relay the signal from the input device, such as speed and direction information, to the ROV 12. As shown in FIG. 1, the buoy may connect to the ROV 12 by way of a tether 16. The tether 16 provides a wired connection between the buoy 14 and the ROV 12. The tether 16 may include at least a power, transmit, and receive wires to provide two-way communication between the ROV 12 and the buoy 14. Further, the tether 16 may optionally include a dedicated wire for transmitting video information from the ROV 12 to the buoy 14, and a dedicated wire for transmitting power to a controller module, described in further detail below. Alternatively, the tether may include a single two way communication link, such as an Ethernet connection or the like, between the buoy 14 and the ROV 12. The tether 16 may be any appropriate length, such as 100 feet.

FIGS. 2-9 illustrate the ROV 12 and various components thereof. The ROV 12 generally comprises a main body or hull 20. The hull 20 may be formed of any appropriate material, such as ABS plastic or the like. The hull 20 may comprise a generally hollow enclosure surrounding a volume. The outer surface of the hull 20 may be sealed to prevent water from entering the internal volume. In an embodiment, the hull 20 may have a two-piece clamshell design, comprising a top portion and a lower portion. The top portion and lower portions may connect together and be sealed to form the hull 20.

The hull 20 have any appropriate shape. In an embodiment illustrated in FIGS. 2-7, the hull may comprise a front portion 22 and a rear tail portion 24. The front portion 22 may have a first width that is greater than the width of the tail portion 24. Further, the hull 20 may include a teardrop-shaped side profile, as shown in the side views in FIGS. 5 and 7. The height at the end of the front portion 22 and the end of the tail portion 24 may each be tapered to form the teardrop shape. This shape may provide a beneficial hydrodynamic design to decrease drag and resistance and thus increase power efficiency.

A tether seal cavity 26 may be positioned near the top of the hull, as shown in FIG. 2. The tether seal cavity may comprise an opening to allow the tether to pass through the hull 20 and into the interior volume of the hull 20 to access internal components. The seal cavity 26 may be sealed using marine grade epoxy, or the like, to prevent water from entering through the opening.

The ROV 12 may include a modular design to allow for customization, ease of part replacement, and improved storage. Specifically, the ROV 12 includes a plurality of removable thrust modules, including side thrust modules 30 and a rear thrust module 32. The thrust modules may be connectable to and removable from the hull 20, as described in further detail below.

FIG. 8 illustrates an embodiment of a side thrust module 30. The ROV 12 may include a side thrust module 30 located on each side of the hull 20. The side thrust module 30 includes a motor 34, propeller 36, stabilizer 38, and pin connector 40. The motor 34 may be any appropriate motor, such as a brushless motor, that is capable of functioning underwater. The motor 34 may drive a propeller 36 which in turn drives the ROV 12 in a forward or reverse direction. The propeller 36 may receive a signal, via the pin connector 40, to drive the motor 34 in a desired direction at a desired speed.

The stabilizer 38 may comprise a flat member or fin connected to or near to the motor housing of the side thrust module 30. The stabilizer 38 may assist in stabilizing the ROV 12 and helping to drive through the water. The stabilizer 38 may be any appropriate size and shape as needed for a given application. The stabilizer 38 may be removable and replaceable with different designs of stabilizers or fins, based on the desired use or application.

The pin connector 40 may be any appropriate pin connector, such as a three-pin connector having two pins for providing power and a third pin for providing a signal to the motor. The power pins may provide plus (+) and minus (−) DC voltage power to the motor from the hull 20. The signal pin may provide the appropriate signal, such as a pulse-width modulated (“PWM”) signal, to drive the motor in the desired direction at the desired speed. The pin connector may interface with a similarly shaped pin receptacle 42 in the hull 20. The pin receptacle 42 may receive the pins therein and hold the side thrust module 30 in place. It will be appreciated that the pins may comprise any appropriate electrical conductors, including screws or other connectors that may act as electrical conductors.

FIG. 9 illustrates an embodiment of a rear thrust module 32. The ROV 12 may include a rear thrust module 32 connected to its tail portion 24. The rear thrust module 32 includes a motor 44, propeller 46, and pin connector 50. As with the side thrust module 30, the rear thrust module motor 44 may be a brushless motor configured to drive the propeller 46 to in turn drive the tail portion 24 up or down. This movement of the tail 24 will articulate the nose or front of the ROV 12 in the opposite direction to allow the ROV 12 to either dive down deeper into the water or move up toward the surface of the water.

As with the side thrust module 30, the pin connector 50 may be any appropriate pin connector, such as a three-pin connector having two pins for providing power and a third pin for providing a signal to the motor. The power pins may provide plus (+) and minus (−) DC voltage power to the motor from the hull 20. The signal pin may provide the appropriate signal, such as a pulse-width modulated (“PWM”) signal, to drive the motor in the desired direction at the desired speed. The pin connector may interface with a similarly shaped pin receptacle 52 in the tail section 24 of the hull 20. The pin receptacle 52 may receive the pins therein and hold the rear thrust module 32 in place.

The design of the removable side and rear thrust modules 30, 32 offers numerous benefits over similar products. First, the modular design allows the ROV 12 to be customized for specific applications. For example, side thrust modules 30 with higher powered motors may be added for applications that would require greater speed, and differently shaped stabilizers 38 can be used as necessary. A second benefit of the modular design is the ability to store and collapse the ROV when not in use. As shown in FIG. 3, the side and rear thrust modules 30, 32 may be removed to reduce the overall footprint of the unit, making it easier to transport. The modular design further assists with part replacement and repair, as thrust modules 30, 32 may be removed and replaced without disturbing the hull 20 or any of its internal components.

It will be appreciated that the pin connector design of the side and rear thrust modules also offers a benefit over other configurations in the art. Other underwater devices often employ cabling that is run from an external motor to an internal volume through a pass through in the body of the vehicle. The drawback with this type of design is that while the pass-through may be sealed to be water tight, the wire insulation may absorb water though its jacket, especially at high water pressures. The water may then seep through the pass-through within the jacket, and into the vehicle. By contrast, the current pin connector design allows the receptacles to be completely sealed. The pins are then able to engage the receptacles without the threat of water passing through them into the interior of the hull 20.

As shown in FIGS. 4-7, the hull 20 may include a mounting rail 54. The mounting rail 54 may be configured to receive an attachment device, such as a light, camera, or other device, thereon. The mounting rail 54 may be positioned at any appropriate location on the hull 20, such as on the bottom of the hull 20, as shown in the FIGS. The mounting rail 54 may be Picatinny rail or any similar style rail for removably connecting modular devices. In an embodiment, the hull 20 may include a connection port (not shown) for connecting a modular device on the mounting rail 54 to internal power or signals within the ROV 12.

FIG. 7 illustrates a cutaway view of the ROV 12 showing the components and structure within the hull 20. In an embodiment, the hull 20 includes interior support structures 56. The interior support structures may be made of any appropriate material, such as aluminum, and may extend from the floor of the hull 20 to its ceiling. The support structures 56 may act as an internal skeleton for the hull 20 to reinforce against external compressive loads, such as water pressure at given depths. The support structures 56 may be interconnected by one or more mounting plates 58. The mounting plates 58 may stabilize the support structures 56 while also providing internal shelves for mounting components within the hull 20, as shown in FIG. 7.

The mounting plates 58 may house various internal components within the ROV 12. For example, speed control units and a battery charging circuit may be connected to the mounting plates 58. Further, a control board 60 may be mounted to a mounting plate 58. The control board 60 may act as the controller for the ROV. The control board 60 may receive input data from the buoy 14 and convert output signals to the side thrust modules 30 and rear thrust module 32.

The hull 20 may further house a camera 62 and lights 64. The camera 62 may be positioned near the front of the hull 20 and faced toward a window 66. The window 66 may comprise a translucent opening formed of any appropriate material, such as acrylic, and sealed with the body of the hull 20. The camera 62 may be configured to collect photo and video data and transmit that data up to the buoy 14 via the tether 16. The lights 64 may comprise LED lights positioned on or near the front of the hull 20 and facing in the same direction as the camera 62 to illuminate the photo/video target area. The lights 64 may have variable intensity to provide greater lighting when desired.

A battery 68 may be located in the tail section 24 of the hull 20. The battery 68 may be any appropriate type of battery, such as a lithium polymer battery. The battery 68 may charge through the tether when connected to an upstream power source. The battery 68 may then power the internal components of the ROV 12.

In use, a user may connect an input device to the buoy 14. The input device may be connected to the buoy through a wired connection or may be wirelessly connected to the buoy 14, such as through a mobile device. The user may input instructions, such as speed and/or direction instructions, into the input device. The device then relays the instructions to the buoy 14, which sends them to the control board 60 through the tether 16. The control board translates the input instructions into power and direction commands for each of the three motors, namely the first and second side thrust motors 34 and the rear thrust motor 44. The side thrust modules 30 then propel the ROV 12 in a forward or rear direction, or turn the ROV 12 side to side. The rear thrust module 32 articulates the nose of the ROV 12 up or down to drive the ROV deeper into the water or toward the water surface.

Although the embodiments of the present invention have been illustrated in the accompanying drawings and described in the foregoing detailed description, it is to be understood that the present invention is not to be limited to just the embodiments disclosed, but that the invention described herein is capable of numerous rearrangements, modifications and substitutions without departing from the scope of the claims hereafter. The claims as follows are intended to include all modifications and alterations insofar as they come within the scope of the claims or the equivalent thereof.

Claims

1. A remotely operated underwater vehicle system comprising:

a hull including a front end and a tail positioned to the rear of the front end;

a first side thrust module connected to a first side of the hull, the first side thrust module configured to drive the hull in a forward or reverse direction;

a second side thrust module connected to a second side of the hull, the first side thrust module configured to drive the hull in a forward or reverse direction;

a rear thrust module connected to the tail of the hull, the rear thrust module configured to drive the tail in an upward or downward direction, approximately perpendicular to the direction of the first and second side thrusters.

2. The remotely operated underwater vehicle system of claim 1, wherein the first and second side thrust modules are removably connected to the hull.

3. The remotely operated underwater vehicle system of claim 2, wherein the removable first side thrust module includes a multi-pin receptacle configured to engage pins on the hull to transfer power and control signals from the hull to the side thrust module.

4. The remotely operated underwater vehicle system of claim 1, wherein the rear thrust module is removably connected from the hull.

5. The remotely operated underwater vehicle system of claim 1, wherein the first side thrust module comprises a motor, a propeller, and a stabilizing fin.

6. The remotely operated underwater vehicle system of claim 5, wherein the stabilizing fin is interchangeable to selectively connect a desired fin shape and size to the side thrust module.

7. The remotely operated underwater vehicle system of claim 1, wherein the hull includes a tapered shape having a greatest height between the front end and the tail.

8. The remotely operated underwater vehicle system of claim 1 further comprising a camera positioned within the hull and directed to capture images exterior to the hull.

9. A remotely operated underwater vehicle system comprising:

a body comprising: a hull having a front end and a tail; a first side thrust module connected to the hull, wherein the first side thrust module is configured to drive the underwater vehicle in a forward or reverse direction; and a rear thrust module connected to the tail and configured to drive the tail in a direction approximately perpendicular to the forward and reverse direction;

a tether having a first end and a second end, the first end of the tether connected to the hull;

a buoy connected to the second end of the tether, the buoy including a communication source configured to communicate with an input device; and

wherein the tether is configured to transfer communication signals between the buoy to the body.

10. The remotely operated underwater vehicle system of claim 9, wherein the buoy is configured to remotely communicate with an input device.

11. The remotely operated underwater vehicle system of claim 10, wherein buoy is configured to communicate with the input device using Wi-Fi communication.

12. The remotely operated underwater vehicle system of claim 10, wherein the buoy is configured to receive directional drive information from the input device and relay the same to the body.

13. The remotely operated underwater vehicle system of claim 10, wherein the body further comprises a camera positioned within the hull and directed to capture images exterior to the hull.

14. The remotely operated underwater vehicle system of claim 13, wherein the buoy is configured to receive video data from the camera and relay the video data to the input device over the

15. The remotely operated underwater vehicle system of claim 9, wherein the first and second side thrust modules are removably connected to the hull.

16. The remotely operated underwater vehicle system of claim 15, wherein the removable first side thrust module includes a multi-pin receptacle configured to engage pins on the hull to transfer power and control signals from the hull to the side thrust module.

17. The remotely operated underwater vehicle system of claim 9, wherein the rear thrust module is removably connected from the hull.

18. The remotely operated underwater vehicle system of claim 9, wherein the hull includes a tapered shape having a greatest height between the front end and the tail.

19. The remotely operated underwater vehicle system of claim 9 further comprising a power source located in the body.