U.S. patent application number 15/627876 was filed with the patent office on 2018-01-04 for underwater remotely operated vehicle.
This patent application is currently assigned to Fathom Drones, Inc.. The applicant listed for this patent is Fathom Drones, Inc.. Invention is credited to John Boss.
Application Number | 20180001981 15/627876 |
Document ID | / |
Family ID | 60806109 |
Filed Date | 2018-01-04 |
United States Patent
Application |
20180001981 |
Kind Code |
A1 |
Boss; John |
January 4, 2018 |
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.
Inventors: |
Boss; John; (Grand Rapids,
MI) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Fathom Drones, Inc. |
Grand Rapids |
MI |
US |
|
|
Assignee: |
Fathom Drones, Inc.
Grand Rapids
MI
|
Family ID: |
60806109 |
Appl. No.: |
15/627876 |
Filed: |
June 20, 2017 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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62352105 |
Jun 20, 2016 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B63G 2008/005 20130101;
B63B 2211/02 20130101; B63B 22/00 20130101; B63G 8/08 20130101;
B63G 8/001 20130101; B63G 2008/007 20130101; B63G 8/16
20130101 |
International
Class: |
B63G 8/16 20060101
B63G008/16; B63B 22/00 20060101 B63B022/00; B63G 8/00 20060101
B63G008/00; B63G 8/08 20060101 B63G008/08 |
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.
Description
CROSS REFERENCE TO RELATED APPLICATION
[0001] 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
[0002] The present invention generally relates to the field of
marine technology, specifically small, observation-class remotely
operated vehicles.
BACKGROUND
[0003] 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.
[0004] 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.
[0005] 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.
[0006] 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.
[0007] Accordingly, an underwater remotely controlled vehicle is
needed.
SUMMARY
[0008] 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.
[0009] 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.
[0010] 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.
[0011] 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
[0012] The operation of the invention may be better understood by
reference to the detailed description taken in connection with the
following illustrations, wherein:
[0013] FIG. 1 illustrates a perspective view an underwater remotely
operated vehicle system;
[0014] FIG. 2 illustrates a perspective view of an underwater
remotely operated vehicle;
[0015] FIG. 3 illustrates a top assembly view of an underwater
remotely operated vehicle;
[0016] FIG. 4 illustrates a front view of an underwater remotely
operated vehicle;
[0017] FIG. 5 illustrates a side view of an underwater remotely
operated vehicle;
[0018] FIG. 6: illustrates a bottom view of an underwater remotely
operated vehicle;
[0019] FIG. 7 a side cutaway view of an underwater remotely
operated vehicle;
[0020] FIG. 8 illustrates a perspective view of a side thrust
module; and
[0021] FIG. 9 illustrates a perspective view of a rear thrust
module.
DETAILED DESCRIPTION
[0022] 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.
[0023] 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.
[0024] 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.
[0025] 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.
[0026] 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.
[0027] 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.
[0028] 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.
[0029] 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.
[0030] 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.
[0031] 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.
[0032] 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.
[0033] 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.
[0034] 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.
[0035] 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.
[0036] 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.
[0037] 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.
[0038] 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.
[0039] 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.
[0040] 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.
[0041] 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.
[0042] 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.
[0043] 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.
[0044] 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.
* * * * *