U.S. patent application number 11/465773 was filed with the patent office on 2008-02-21 for encapsulated underwater vehicle modules.
This patent application is currently assigned to NORTHROP GRUMMAN SYSTEMS CORPORATION. Invention is credited to Richard A. Diorio, Ryan J. Tintner, Christopher R. Walter.
Application Number | 20080041294 11/465773 |
Document ID | / |
Family ID | 39100141 |
Filed Date | 2008-02-21 |
United States Patent
Application |
20080041294 |
Kind Code |
A1 |
Diorio; Richard A. ; et
al. |
February 21, 2008 |
Encapsulated Underwater Vehicle Modules
Abstract
An encapsulated module (14) for an unmanned underwater vehicle
(UUV) (V) is formed with an operational component (16) and
encapsulating material (60). The encapsulant (60) forms a rigid
capsule surrounding the operational component (16). The capsule
(14) has a least one exterior surface (18) that assists in forming
the exterior surface (26) of the UUV (V) when the capsule (14) is
combined into the UUV (V).
Inventors: |
Diorio; Richard A.;
(Crofton, MD) ; Walter; Christopher R.;
(Parkville, MD) ; Tintner; Ryan J.; (Baltimore,
MD) |
Correspondence
Address: |
MARSTELLER & ASSOCIATES, P. C.
P. O. BOX 803302
DALLAS
TX
75380-3302
US
|
Assignee: |
NORTHROP GRUMMAN SYSTEMS
CORPORATION
Los Angeles
CA
|
Family ID: |
39100141 |
Appl. No.: |
11/465773 |
Filed: |
August 18, 2006 |
Current U.S.
Class: |
114/312 |
Current CPC
Class: |
B63B 3/08 20130101; B63G
8/001 20130101; B63G 8/42 20130101 |
Class at
Publication: |
114/312 |
International
Class: |
B63G 8/00 20060101
B63G008/00 |
Claims
1. An encapsulated module for an unmanned underwater vehicle (UUV)
comprising: an operational component; encapsulating material
forming a rigid capsule surrounding the operational component; the
capsule having at least one exterior surface assisting in forming
the exterior surface of the UUV when the capsule is combined into
the UUV; and the encapsulating material further including weighted
objects for adjusting desired buoyancy of the UUV.
2. The invention of claim 1 wherein the completed UUV is formed
comprising a single module.
3. The invention of claim 1 further including means for joining the
encapsulated module with other encapsulated modules to form the
UUV.
4. The invention of claim 1 further including means for conveying
information out of the capsule to other capsules or a support
station.
5. The invention of claim 1 wherein the encapsulating material is
formed from a mixture of a polyurethane component and a wetting
agent component.
6. The invention of claim 5 wherein the weighted objects comprise
beaded material.
7. A method for preparing an encapsulated module for an unmanned
underwater vehicle (UUV) comprising: positioning an operational
component into a mold; introducing an encapsulating material into
the mold forming a rigid capsule surrounding the operational
component; the capsule having at least one exterior surface
assisting in forming the exterior surface of the UUV when the
capsule is combined into the UUV; and, introducing into the
encapsulating material weighted objects for adjusting desired
buoyancy of the UUV.
8. The method of claim 7 wherein the completed UUV is formed
comprising a single module.
9. The method of claim 7 further including means for joining the
encapsulated module with other encapsulated modules to form the
UUV.
10. The method of claim 7 further including means for conveying
information out of the capsule to other capsules or a support
station.
11. The method of claim 7 wherein the encapsulating material is
formed from a mixture of a polyurethane component and a wetting
agent component.
12. The method of claim 11 wherein the weighted obiects comprise
beaded material.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Technical Field
[0002] The invention relates to the field of Unmanned Underwater
Vehicles (UUVs) and more particularly to forms of such UUVs that
are adaptable to multiple mission profiles.
[0003] 2. Background Art
[0004] Unmanned Underwater Vehicles (UUVs) are a well known tool
used in military and non-military operations. UUVs are currently
designated for a single mission. Additionally, the high cost of
development hinders their application for other purposes. UUVs are
typically designed as a metallic pressure vessel with cables
running from its extremities to the central processor. This results
in an architecture that does not lend itself to be easily
reconfigured for other purposed.
[0005] Exemplary UUVs are disclosed in U.S. Pat. Nos. 5,578,751;
5,786,545; 6,058,874; 6,536,365; and 7,000,560.
[0006] Polyurethane potting has been used in conjunction with UUVs
for sealing holes and individual cables against water intrusion as
disclosed in U.S. Pat. No. 5,578,751; however, it is not known that
a potting mixture has been used to form part or all of the UUV
itself.
[0007] The present invention enhances the functionality of the
above cited patents by utilizing a modular system to rapidly
combine single or multiple purpose or use modules into a fully
functional UUV particular to the specific mission profile.
[0008] While the above cited references introduce and disclose a
number of noteworthy advances and technological improvements within
the art, none completely fulfills the specific objectives achieved
by this invention.
DISCUSSION OF INVENTION
[0009] In accordance with the present invention, an unmanned
underwater vehicle (UUV) includes a steering unit for directional
control of the UUV having an exterior surface and at least one
interchangeable module component for housing a desired operational
unit appropriate for a chosen mission profile. The interchangeable
module has an exterior surface preferably impervious to the
undesirable intrusion of water or other fluids. A frontal portion
may have an exterior surface that is adapted for flow through a
fluid. The exterior surfaces of the steering unit, the
interchangeable module component and the frontal portion form a
substantially smooth surface envelope when the interchangeable
module is attached to the steering unit and frontal portion for
controlled movement through a fluid.
[0010] The modules of the UUV V or the complete UUV V itself, as
desired, may be formed from an encapsulating material protecting
the operational mechanical and electrical components. The
encapsulating material provides protection for the electronic and
other operating components from water intrusion, crushing due to
pressures on the module at a depth below the water surface, and
other factors affecting the operability of the electronic
components.
[0011] The present invention is a design for standardized UUV
modules that can be combined in any way to make an unmanned
underwater vehicle. This standardization allows the same technology
to be used in multiple configurations. The reuse of technology
significantly lowers the cost of development of a UUV. Therefore, a
module only needs to be designed once, but can be reused in many
vehicles with different purposes. The present invention discloses
standardized modules than can be combined any way a user needs to
make vehicles appropriate for a desired mission profile.
[0012] These and other objects, advantages and preferred features
of this invention will be apparent from the following description
taken with reference to the accompanying drawings, wherein is shown
the preferred embodiments of the invention.
BRIEF DESCRIPTION OF DRAWINGS
[0013] A more particular description of the invention briefly
summarized above is available from the exemplary embodiments
illustrated in the drawing and discussed in further detail below.
Through this reference, it can be seen how the above cited
features, as well as others that will become apparent, are obtained
and can be understood in detail. The drawings nevertheless
illustrate only typical, preferred embodiments of the invention and
are not to be considered limiting of its scope as the invention may
admit to other equally effective embodiments.
[0014] FIGS. 1A and 1B are isomeric views of the modular UUV of the
present invention.
[0015] FIG. 2 is a functional diagram of one form for a typical
modular UUV of the present invention.
[0016] FIG. 3 is a perspective view of a rail system for assembly
of the modules forming the competed modular UUV.
[0017] FIG. 4 is a perspective view of a truss assembly that may be
used to join the modules.
[0018] FIG. 5 illustrates a tethered modular UUV of the present
invention deployed from a control ship on the surface of a body of
water.
[0019] FIG. 6 is a top view of a mold that may be used to form an
encapsulated modular component of the UUV of the present
invention.
MODES FOR CARRYING OUT THE INVENTION
[0020] So that the manner in which the above recited features,
advantages and objects of the present invention are attained can be
understood in detail, more particular description of the invention,
briefly summarized above, may be had by reference to the embodiment
thereof that is illustrated in the appended drawings. In all the
drawings, identical numbers represent the same elements.
[0021] The present invention relates to co-pending patent
application entitled "Self Contained Underwater Vehicle Modules,"
the disclosure of which is incorporated by reference herein as if
fully set forth.
[0022] An unmanned underwater vehicle (UUV) V includes a steering
unit or segment 10 with an exterior surface 12 and at least one
interchangeable operational module component 14. The steering unit
10 functions to provide for or assist in directional control or
stability of the UUV V. The interchangeable module or modules 14
house one or more desired operational units 16 appropriate for a
chosen mission profile of the impervious to the undesirable
intrusion of water or other fluids 20. A frontal or nose cone
portion 22 may by formed having an exterior surface 24 that is
adapted for flow through the fluid 20. The exterior surfaces 12,
18, and 24 of the steering unit 10, the interchangeable module
component(s) 14 and the frontal portion 24, respectively, form a
substantially smooth surface envelope or body 26 resembling a
torpedo shape when the interchangeable module(s) 14 is attached to
the steering unit 10 and frontal portion or nose cone segment 22
for controlled movement through the fluid 20.
[0023] Each module is designed and built to have a unique, single
function (i.e. thrust, control, navigation, etc.). A vehicle V can
be constructed of only the modules needed for a given mission
profile. Additional modules 14 can be added or unnecessary modules
14 removed from the vehicle V with no impact. If a mission requires
a particular attribute to be optimized or changed, that particular
module 14 or sub-system can be changed without redesigning the
entire vehicle V. This independence allows each function of the
vehicle V to be added, removed, or upgraded by only replacing one
section and establishing communications with other operational
modules 14 as necessary. Different vehicles V can be constructed of
modules 14 with varying performance and cost based on mission
requirements. FIG. 2 illustrates how each module 14 is
self-sufficient and provides a single or multiple functions as
desired.
[0024] The modules 14 of the present invention are self-contained
and self-supporting, and vehicles V can be assembled from any
number of compatible modules 14, in any order desired, to provide
any length desired. Each module 14 may provide a single function
and may be fully complete for its desired information gathering or
defensive functions. Preferably, a single interchangeable module 14
would include all necessary electrical or mechanical components or
arrays such as sensors 28, processing 30. recording 32,
communications 34, energy 36 or others by way of example within
each section or module 14 in order to improve reliability if one
module 14 were to fail during a mission.
[0025] There is no minimum or maximum number of modules 14 required
and each can operate independently or collectively. Each module 14
may be self-powered with its won energy component 36 and therefore
not be dependent upon a common power bus subject to failure. Every
module 14 may have the same mechanical attachment in order that it
can be positioned in any sequence in the vehicle V as
assembled.
[0026] Communication, either two-way or one-way, may be achieved
over a standard or known protocol and architecture. Typically,
communications may be exchanged between individual interchangeable
modules 14 or the steering or propulsion unit 10 to exchange
mission profile information and information or intelligence that
has been collected by the sensor 28 or other operational components
or arrays. Communication may be achieved with the steering or
propulsion segment 10 for independent directional and stability
control of the UUV V. Further, communications may be exchanged
between the UUV V and a surface ship or supporting station 44
either through a wireless connection using an antenna 38 or over a
tethered communication cable 40 extending between the support
station 44 and an attachment point 42 on the UUV V.
[0027] Also, while a typical vehicle V may have an internal wired
communications connection or bus 46, such as a known Ethernet form
of electronic communication used for computing machinery, another
vehicle V may communicate wirelessly through a known commercial
Wi-Fi or radio frequency technology, for example, with an
appropriate internal (not shown) or external antenna 38 for data
interchange between modules 14 or the support station 44. Testing
has been done to prove the viability of the wireless form of
communication either between the modules 14 or from one or more
modules to the information collection point 44.
[0028] Each module 14 may be designed to be neutrally buoyant so
the addition and subtraction of modules has no effect on the
overall vehicle buoyancy at the desired mission profile operating
depth.
[0029] Alternatively, one interchangeable module 14 may be formed
to include the nose cone or frontal portion 22 as is depicted in
FIG. 2. A typical sensor that may be mounted with the nose cone
segment 22 is a camera to provide visual assistance in guiding the
craft V from the support station 44.
[0030] While the nose cone portion 22 is normally tapered or
otherwise shaped to improve the movement of the UUV V through the
water, the nose cone may even be a blunt surface. However, such
blunt surface would not improve the movement characteristics
through water or other medium and likely is not recommended to be
used.
[0031] The steering or propulsion segment 10 generally includes a
means of propulsion suitable for moving the UUV V through the water
or other fluid medium. A known propeller 48 or other known means
for propulsion may be selected. The cowling or exterior surface 12
of the propulsion unit 10 may have a tapered area or section 50 as
necessary. Fins (not shown) or other means for steering the UUV V
may be mounted with the steering unit 10 or any other segment 14 to
provide directional control and stabilizing control to the
assembled UUV V.
[0032] Alternatively, if the UUV V is tethered as shown in FIG. 5,
a separate propulsion unit may not be needed and the section 14
that includes the attachment point 42 substitutes for or acts as
the propulsion unit 10 and directional control of the UUV V is
predominately achieved through movement of the surface ship 44 that
is towing the UUV V while it is submerged. In such an alternative
arrangement the UUV V can be solely assembled from one or more
interchangeable modules 14.
[0033] Each module 14, although scalable up or down, may be a 12''
diameter 52 encapsulated segment, for example. Further, an optional
outer covering or surface 26 may be applied or used to encompass
all the modules or sections for further streamlining of the modular
UUV V in relation to the fluid's characteristics during the
mission. Such a covering could be a simple spray on material that
is selected for radar reflection, sound absorption or the like.
[0034] Each interchangeable module 14, propulsion or steering unit
10, and the nose cone 22 may have a cast U-channel 54 with pins 56
that enable the modules to slide onto a mechanical backbone 58 to
form the completed modular UUV V. Referring particularly to FIG. 3,
a U-channel or rail 54 is shown with pins 56 that slid onto the
extrusion 58 to secure the individual components or segments 10,
14, or 22 into the completed UUV V.
[0035] Alternatively, the modular vehicle V may have a truss system
60 as shown in FIG. 4 for each module or other component such as
the propulsion unit 10 or nose cone 22 that is connected with
V-band clamps (not shown) or the like at rings or edges 62 to join
the individual selected modules or sections 10, 14, or 22 into the
completed modular UUV V.
[0036] In addition to mechanical standardization, all electrical
connections and connectors on the module are standardized as well.
With standardized of design, components, and processes there are
reductions in cost through quantity production of standard modules.
Such a design yields a reduction in cost that enables the first
expendable UUV V.
Formation of an Encapsulated UUV Module
[0037] An encapsulated module 14 for an unmanned underwater vehicle
(UUV) V is formed with an operational component 16 and
encapsulating material 60. The encapsulant 60 forms a rigid capsule
or module surrounding the operational component 16. The capsule 14
has at least one exterior surface 18 that assists in forming the
exterior surface 26 of the UUV V when the capsule 14 is combined
into the UUV V.
[0038] The modules of the UUV V or even the complete UUV V itself,
as desired, may be formed from an encapsulating material protecting
the operational mechanical and electrical components. The
encapsulating material provides protection for the electronic and
other operating components from water intrusion, crushing due to
pressures on the module at a depth below the water surface, and
other factors affecting the operability of the electronic
components.
[0039] The encapsulant, by way of example, may be a three part
mixture 60, which is initially moldable and flowable, comprising a
polyurethane 62 (EN-9 from the manufacturer Conap may be used by
way of example), glass microspheres 64 (K20 from 3M may be used for
this component), and a wetting agent 66 (Dow Corning 29, as
example).
[0040] The mixture ratio of glass microspheres 64 and the types of
glass microspheres may be altered as required to achieve the
necessary density appropriate for the cruising depth and pressure
of the vehicle for the particular mission profile. This three part
mixture 60 is then used to encapsulate electronic components such
as batteries 36 or other operational components 16, with seemingly
few or no unfavorable effects. Typically, the encapsulant material
60 begins as a flowable liquid. The operating or desired components
are placed in a mold 68 appropriate for the desired outline of the
UUV module. The encapsulating material 60 is then poured into the
mold 68 about the selected operating components suitable for the
module being crafted. The encapsulant material 60 is then left to
dry or cure, which hardens the encapsulant material 60.
[0041] The mold 68 may be formed from paper or other materials
compatible with the encapsulant mixture 60 with provisions or
cut-outs 70 excluding the flowable encapsulant material 60 from
encroaching into the space for the rail system 54 as shown in FIG.
3.
[0042] Additionally, the truss system 60 can be molded into the
encapsulated module to provide substantial strength and exceedingly
rigidity when combining the various modules into the UUV.
[0043] The suggested encapsulant has been used to create a sample
vehicle V with an embedded single board computer and batteries. The
sample unmanned underwater vehicle V was pressure tested and this
encapsulant was found to protect the operational single board
computer to 1050' and the batteries to 6750' ft.
[0044] The formation of a module formed without undesired voids and
from an essentially solid encapsulant eliminates or substantially
reduces the chances of a crushing of the UUV module from the
pressure about the UUV module resulting from the water/fluid column
pressure above the UUV V.
[0045] The density of the encapsulated UUV module may be adjusted
to provide neutral buoyancy for the UUV V at the selected operating
depth when considering other factors such as temperature and
salinity at the operating depth. Weighted spheres or other objects
72 may be added to make the overall density of the encapsulated UUV
module appropriate. Such weighted objects 72 can be formed from
materials having a higher or lower density than the surround
encapsulant material 60 to adjust the overall density of the
encapsulated UUV module to the desired value for the assigned
mission. Preferably the weighted objects 72 are rigidly formed so
as to not degrade the crush resistance of the encapsulated UUV
module.
[0046] Depending on the type of encapsulating material used, it may
be possible to add a "dissolving" material to return the hardened
encapsulated module into a liquefied state thereby permitting the
removal or retrieval of the operating component separate from the
encapsulant material 60.
[0047] The present invention is truly novel because of the design
and manufacturing techniques used. It advances the state of the art
for UUV systems and provides an architecture that could be used
industry wide. The techniques described yield functionality,
performance, and reliability that is unique for a typical unmanned
underwater vehicle. The present invention produces a UUV that is
less expensive to manufacture than current systems.
[0048] Advantages of the present invention as compared to known
devices include improved crush resistance for the UUV; a
non-proprietary design, easily reconfigured and upgraded, lower
cost due to standardized components making the UUV; and, increased
reliability due to a connectorless design and the resistance to the
degrading impacts of water and pressure.
[0049] The foregoing disclosure and description of the invention
are illustrative and explanatory thereof, and various changes in
the size, shape and materials, as well as in the details of the
illustrated construction may be made without departing from the
spirit of the invention.
* * * * *