Modular submersible survey vehicle

• US 10,011,152 B1
• Filed: 03/15/2017
• Issued: 07/03/2018
• Est. Priority Date: 03/15/2017
• Status: Active Grant

• Current Assignee: Gahagan & Bryant Associates, Inc.
• Original Assignee: Gahagan & Bryant Associates, Inc.
• Inventors: Kremkau, Kevin M., Donaldson, III, Don G., Barker, Jonathan R., Seaboldt, Paul A., Blayer, Edward J.
• Primary Examiner(s): Venne, Daniel V
• Application Number:
  US15/459,884
• Time in Patent Office: 475 Days
• Field of Search: 114312, 114313, 114321, 114330, 114331, 114333, 114335, 114339, 114341, 114342, 440 125, 440 1256, 440 1263, 440 1264, 180 71, 180 82, 180 87, 180 91, 180 658
• CPC Class Codes: B60F 3/0015 comprising tracks specially adapted therefor articulated tracks for vehicles, in general B62D55/20
• CPC Class Codes: B60F 3/0061 Amphibious vehicles specially adapted for particular purposes or of a particular type armoured amphibious vehicles F41H7/00; equipment for working under water B63C11/00; flating bridges designed as or mounted on vehicles E01D15/22
• CPC Class Codes: G01C 13/00 Surveying specially adapted to open water, e.g. sea, lake, river or canal liquid level metering G01F
• CPC Class Codes: Y02A 90/30 Assessment of water resources

Abstract

A modular submersible survey vehicle (“MSSV”) that includes a pair of continuous tracks, a chassis, a shell and a plurality of watertight modules. The MSSV can also include a mast with a mast topper, and a remote control device. A chassis is mounted on the pair of continuous tracks and covered by the shell on the sides and top but open on the bottom. The watertight modules are mounted on the chassis and contain mechanical devices and electronic components for locomotion, controlling movement of the MSSV, surveying and wireless communication. The mast topper can support a radio antenna, a global positioning antenna, a WiFi an antenna, a light and/or a camera. The remote control device is used to control the MSSV from a remote location. The shell is vented so that water freely passes into and out of the shell through the open bottom of the chassis.

Claims

1. A modular submersible survey vehicle (MSSV) comprising:

a pair of continuous tracks;

a chassis mounted on the pair of continuous tracks, wherein the chassis has a longitudinal axis extending between a first end and a second end, first and second sides, a top side, and a bottom side, and wherein the chassis has an open frame structure that allows water to freely pass through;

a shell attached to the chassis and comprising a top wall extending between first and second side walls on the first and second sides of the chassis, the top wall and side walls define an interior and an open bottom portion, wherein the shell comprises one or more vents; and

a plurality of watertight modules mounted on the chassis, wherein the modules contain mechanical devices and electronic components for locomotion, controlling movement of the MSSV, surveying and wireless communication,

wherein the open frame structure of the chassis, the open bottom portion of the shell and the one or more vents in the shell allow water to freely flow into and out of the interior when the MSSV moves into and out of a body of water.

2. The MSSV according to claim 1, wherein one of the plurality of watertight modules is a hydraulic propulsion module comprising an electric motor and a hydraulic pump.

3. The MSSV according to claim 1, wherein one of the plurality of watertight modules is a control processing unit (CPU) module comprising a CPU for controlling the movement of the MSSV and/or for controlling surveying equipment.

4. The MSSV according to claim 3 further comprising a remote control device that communicates wirelessly with the CPU to provide remote control of the movement of the MSSV and/or remote control of the surveying equipment.

5. The MSSV according to claim 1, wherein one of the plurality of watertight modules comprises lightning arrestor equipment or one or more batteries.

6. The MSSV according to claim 1, wherein two or more of the plurality of watertight modules are connected by one or more watertight conduits.

7. The MSSV according to claim 1, wherein the shell comprises a bow wedge-shaped section that is attached to the first end of the chassis and a stern wedge-shaped section that is attached to the second end of the chassis, wherein the bow wedge-shaped section and the stern wedge-shaped section each has a top surface that slopes downwardly at an angle of from 20 degrees to 40 degrees from the top side of the chassis and a bottom surface that slopes upwardly at an angle of from 20 degrees to 40 degrees from the bottom side of the chassis as each extends to a bow and a stern, respectively.

8. The MSSV according to claim 1, wherein a bow rollover bar extends from the first end of the chassis and a stern rollover bar extends from the second end of the chassis.

9. The MSSV according to claim 1, wherein the open frame structure of the chassis comprises a plurality of elongate members extending parallel to the longitudinal axis and between a first bulkhead at the first end and a second bulkhead at the second end and a plurality of transverse ribs attached to the plurality of elongate members.

10. The MSSV according to claim 1, wherein each of the pair of continuous tracks comprises a hydraulic motor that is driven by a hydraulic pump actuated by a variable speed electric motor in one of the plurality of watertight modules.

11. The MSSV according to claim 1, wherein the chassis comprises a mast support structure that extends from the bottom side of the chassis, through the top wall of the shell to a mast base plate.

12. The MSSV according to claim 11 further comprising a mast that extends upwardly from the mast base plate to a mast top.

13. The MSSV according to claim 12, wherein a mast topper is disposed on the top of the mast, wherein the mast topper has one or more members extending outwardly from the mast that supports a radio antenna, a global positioning antenna, a WiFi an antenna, a light and/or a camera.

14. The MSSV according to claim 12, wherein the mast base plate has a top surface and is connected to the mast support structure by a hinge that pivots the surface of the mast base plate between a vertical and horizontal orientation, and the MSSV further comprising a gin pole attached to the hinged mast base plate and extending in the direction of the second end of the chassis, wherein, when the mast is in a vertical orientation, the gin pole forms an angle with the mast of from 60 degrees to 90 degrees.

15. The MSSV according to claim 14 further comprising a winch stand having an elongate member extending outwardly from the second end of the chassis to a distal end and a stanchion extending upwardly from the distal end to a winch support platform, wherein the winch stand and gin pole are adapted to raise the mast.

16. The MSSV according to claim 1, wherein the chassis has a bow bulkhead at the first end and a stern bulkhead at the second end, and wherein each bulkhead has a port side and a starboard side.

17. The MSSV according to claim 16, wherein a member with an aperture extends upwardly from the port side and the starboard side of each of the bow and stern bulkheads and above the top wall of the shell, and wherein the apertures are adapted for the connection of cables that are used to lift the MSSV.

18. The MSSV according to claim 1, wherein one of the plurality of watertight modules is a control processing unit (CPU) module comprising a controller that communicates with a wireless remote control device to remotely control the movement of the MSSV, a camera, a spotlight and/or a robotic device.

19. The MSSV according to claim 1, wherein one of the plurality of watertight modules is a control processing unit (CPU) module comprising a global position system, an inclinometer, and/or a laser distance measuring device, which communicate wirelessly with a tablet computer or lap top computer.

20. The MSSV according to claim 1 further comprising an auxiliary power module comprising a trailer attached to the MSSV and a gas-powered electric generator housed in an enclosure, wherein the gas powered electric generator provides electric power to the MSSV.

21. A modular submersible survey vehicle (MSSV) comprising:

a pair of continuous tracks, wherein each of the pair of continuous tracks comprises a hydraulic motor that is driven by a hydraulic pump actuated by a variable speed electric motor;

a chassis mounted on the pair of continuous tracks, wherein the chassis has a longitudinal axis extending between a first end and a second end, first and second sides, a top side, and a bottom side, and wherein the chassis has an open frame structure that allows water to freely pass through;

a shell attached to the chassis and comprising a top wall extending between side walls on the first and second sides of the chassis that define an interior and an open bottom portion, wherein the shell comprises one or more vents;

a watertight hydraulic power unit (HPU) module comprising an electric motor and a hydraulic pump;

a watertight control processing unit (CPU) module comprising a CPU for controlling the movement of the MSSV and/or for controlling surveying equipment, wherein the CPU module further comprises electronic components for wireless communication with a tablet computer or lap top computer, a global position system, an inclinometer, and/or a laser distance measuring device; and

one or more watertight conduits connecting the HPU module and the CPU module, wherein the open frame structure of the chassis, the open bottom portion of the shell and the one or more vents in the shell allow water to freely flow into and out of the interior when the MSSV moves into and out of a body of water.

22. The MSSV according to claim 21 further comprising a remote control device that communicates wirelessly with the CPU to provide remote control of the movement of the MSSV and/or remote control of the surveying equipment.

23. The MSSV according to claim 21 further comprising a watertight module comprising lightning arrestor equipment or one or more batteries.

24. The MSSV according to claim 21, wherein the shell comprises a bow wedge-shaped section that is attached to the first end of the chassis and a stern wedge-shaped section that is attached to the second end of the chassis, wherein the bow wedge-shaped section and the stern wedge-shaped section each has a top surface that slopes downwardly at an angle of from 20 degrees to 40 degrees from the top side of the chassis and a bottom surface that slopes upwardly at an angle of from 20 degrees to 40 degrees from the bottom side of the chassis.

25. The MSSV according to claim 21, wherein the open frame structure of the chassis comprises a plurality of elongate members extending parallel to the longitudinal axis and between a first bulkhead at the first end of the chassis and a second bulkhead at the second end of the chassis, and a plurality of transverse ribs attached to the plurality of elongate members.

26. The MSSV according to claim 21, wherein the chassis comprises a mast support structure that extends from the bottom side of the chassis, through the top wall of the shell to a mast base plate, a mast that extends upwardly from the mast base plate to a mast top, and a mast topper attached to the mast top, wherein the mast topper has one or more members extending outwardly from the mast that supports a radio antenna, a global positioning antenna, a WiFi an antenna, a light and/or a camera.

27. A modular submersible survey vehicle (MSSV) comprising:

a pair of continuous tracks, wherein each of the pair of continuous tracks comprises a hydraulic motor that is driven by a hydraulic pump actuated by a variable speed electric motor;

a chassis mounted on the pair of continuous tracks, wherein the chassis has a longitudinal axis extending between a first end and a second end, first and second sides, a top side, and a bottom side, and wherein the chassis comprises a plurality of elongate members extending parallel to the longitudinal axis and between a first bulkhead at the first end and a second bulkhead at the second end and a plurality of transverse ribs attached to the plurality of elongate members that defines an open frame structure that allows water to freely pass through the chassis;

a shell attached to the chassis and comprising a top wall extending between side walls on the first and second sides of the chassis, the top wall and the side walls define an interior and an open bottom portion, wherein the shell comprises one or more vents, a bow wedge-shaped section that is attached to the first end of the chassis and a stern wedge-shaped section that is attached to the second end of the chassis, wherein the bow wedge-shaped section and the stern wedge-shaped section each has a top surface that slopes downwardly at an angle of from 20 degrees to 40 degrees from the top side of the chassis and a bottom surface that slopes upwardly at an angle of from 20 degrees to 40 degrees from the bottom side of the chassis;

a watertight hydraulic power unit (HPU) module comprising an electric motor and a hydraulic pump;

a watertight control processing unit (CPU) module comprising a CPU for controlling the movement of the MSSV and/or for controlling surveying equipment, wherein the CPU module further comprises electronic components for wireless communication with a tablet computer or lap top computer, a global position system, an inclinometer, and/or a laser distance measuring device; and

one or more watertight conduits connecting the HPU module and the CPU module, wherein the open frame structure of the chassis, the open bottom portion of the shell and the one or more vents in the shell allow water to freely flow into and out of the interior when the MSSV moves into and out of a body of water.

28. The MSSV according to claim 27 further comprising a remote control device that communicates wirelessly with the CPU to provide remote control of the movement of the MSSV and/or remote control of the surveying equipment.

29. The MSSV according to claim 27, wherein one of the plurality of watertight modules comprises lightning arrestor equipment or one or more batteries.

30. The MSSV according to claim 27, wherein the chassis comprises a mast support structure that extends from the bottom side of the chassis, through the top wall of the shell to a mast base plate, a mast that extends upwardly from the mast base plate to a mast top, and a mast topper attached to the mast top, wherein the mast topper has one or more members extending outwardly from the mast that supports a radio antenna, a global positioning antenna, a WiFi an antenna, a light and/or a camera.