Combined autonomous underwater vehicle and buoy device

• US 10,322,782 B1
• Filed: 09/21/2018
• Issued: 06/18/2019
• Est. Priority Date: 09/21/2018
• Status: Active Grant

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: The United States of America As Represented By The Secretary of Agriculture
• Inventors: Brown, Michael Hunter, Caruso, Nicholas Ray
• Primary Examiner(s): Morano, S. Joseph
• Assistant Examiner(s): Hayes, Jovon E
• Application Number:
  US16/137,838
• Time in Patent Office: 270 Days
• CPC Class Codes: B63B 22/20 Ballast means
• CPC Class Codes: B63G 2008/004 autonomously operating
• CPC Class Codes: B63G 8/001 Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42
• CPC Class Codes: B63G 8/20 Steering equipment B63G8/16, B63G8/18 take precedence; steering of vessels in general B63H25/00
• CPC Class Codes: B63G 8/22 Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks conduits for emptying or ballasting on vessels in general B63B13/00; stabilising vessels using ballast tanks B63B43/06

Abstract

A combined autonomous underwater vehicle and buoy device that may travel underwater in a horizontal orientation as an underwater glider to a desired location and then, at the desired location, move into a vertical orientation and operate as a buoy. The combined autonomous underwater vehicle and buoy device includes an elongated device body having a ballast tank, a plurality of fins, and a deployable weight. While in water, the device body may operate the ballast tank to selectively increase its buoyancy to cause vertical descent and decrease its buoyancy to cause vertical ascent, with the fins generating lift that moves the device body horizontally from this vertical motion. To move to the vertical orientation, the device body may reposition the deployable weight to adjust the center of mass of the device body sufficiently to cause the device body to move from the horizontal orientation to the vertical orientation.

Claims

1. A combined autonomous underwater vehicle and buoy device, comprising:

a device body having a proximal end and a distal end, wherein said proximal end defines a bow when the device body is in a horizontal orientation and said distal end defines a stern when the device body is in the horizontal orientation;

wherein said device body is configured to selectively cause an increase in a buoyancy of the device body so as to cause the device body to descend vertically and to cause a decrease in the buoyancy of the device body so as to cause the device body to ascend vertically;

wherein said device body is configured to generate lift that moves the device body horizontally in response to the device body being caused to ascend and descend vertically; and

a deployable weight integral with said device body, wherein said deployable weight is selectably moveable from a first position between the bow and stern of the device body to a second position in which the deployable weight is tethered to but outside of a profile of the device body in a manner which causes center of mass of the device body to move sufficiently aft to cause the device body to move from the horizontal orientation to a vertical orientation when in water.

2. The combined autonomous underwater vehicle and buoy device of claim 1, additionally comprising a ballast tank having internal space integral with said device body, wherein said ballast tank is configured to selectively cause the increase in the buoyancy of the device body so as to cause the device body to descend vertically and to cause the decrease in the buoyancy of the device body so as to cause the device body to ascend vertically.

3. The combined autonomous underwater vehicle and buoy device of claim 2, wherein said ballast tank is configured to selectively introduce water into the internal space to decrease in the buoyancy of the device body and to selectively evacuate water from the internal space to increase in the buoyancy of the device body.

4. The combined autonomous underwater vehicle and buoy device of claim 1, additionally comprising at least one fin extending from the device body, wherein said at least one fin is configured to generate lift on the device body in response to the device body being caused to ascend and descend vertically.

5. The combined autonomous underwater vehicle and buoy device of claim 1, additionally comprising a pair of fins extending from opposing sides of the device body, wherein said pair of fins are configured to generate lift on the device body in response to the device body being caused to ascend and descend vertically.

6. The combined autonomous underwater vehicle and buoy device of claim 1, additionally comprising a rudder integral with the device body and operative to control yawing motion of the device body.

7. The combined autonomous underwater vehicle and buoy device of claim 6, wherein the rudder is integral with the stern of the device body.

8. The combined autonomous underwater vehicle and buoy device of claim 1, wherein when the device body is in water and said deployable weight is in the second position, the deployable weight is situated beneath the device body.

9. A combined autonomous underwater vehicle and buoy device, comprising:

a device body having a proximal end and a distal end, wherein said proximal end defines a bow when the device body is in a horizontal orientation and said distal end defines a stern when the device body is in the horizontal orientation;

wherein said device body is configured to selectively cause an increase in a buoyancy of the device body so as to cause the device body to descend vertically and to cause a decrease in the buoyancy of the device body so as to cause the device body to ascend vertically;

wherein said device body is configured to generate lift that moves the device body horizontally in response to the device body being caused to ascend and descend vertically;

a deployable weight integral with said device body, wherein said deployable weight is selectably moveable from a first position between the bow and stern of the device body to a second position in which the deployable weight is tethered to but outside of a profile of the device body in a manner which causes center of mass of the device body to move sufficiently aft to cause the device body to move from the horizontal orientation to a vertical orientation when in water; and

an internal control system having positioning system interface and integral with said device body, wherein said internal control system causes the deployable weight to move from the first position to the second position automatically upon determining that the device body has reached a predetermined target geolocation using data from the positioning system interface.

10. The combined autonomous underwater vehicle and buoy device of claim 9, additionally comprising a ballast tank having internal space integral with said device body, wherein said ballast tank is configured to selectively cause the increase in the buoyancy of the device body so as to cause the device body to descend vertically and to cause the decrease in the buoyancy of the device body so as to cause the device body to ascend vertically.

11. The combined autonomous underwater vehicle and buoy device of claim 10, wherein said ballast tank is configured to selectively introduce water into the internal space to decrease in the buoyancy of the device body and to selectively evacuate water from the internal space to increase in the buoyancy of the device body.

12. The combined autonomous underwater vehicle and buoy device of claim 9, additionally comprising at least one fin extending from the device body, wherein said at least one fin is configured to generate lift on the device body in response to the device body being caused to ascend and descend vertically.

13. The combined autonomous underwater vehicle and buoy device of claim 9, additionally comprising a pair of fins extending from opposing sides of the device body, wherein said pair of fins are configured to generate lift on the device body in response to the device body being caused to ascend and descend vertically.

14. The combined autonomous underwater vehicle and buoy device of claim 9, additionally comprising a rudder integral with the device body and operative to control yawing motion of the device body.

15. The combined autonomous underwater vehicle and buoy device of claim 14, wherein the rudder is integral with the stern of the device body.

16. The combined autonomous underwater vehicle and buoy device of claim 9, wherein when the device body is in water and said deployable weight is in the second position, the deployable weight is situated beneath the device body.

17. A combined autonomous underwater vehicle and buoy device, comprising:

a device body having a proximal end and a distal end, wherein said proximal end defines a bow when the device body is in a horizontal orientation and said distal end defines a stern when the device body is in the horizontal orientation;

a ballast tank having internal space integral with said device body, wherein said ballast tank is configured to selectively cause the increase in a buoyancy of the device body so as to cause the device body to descend vertically and to cause the decrease in the buoyancy of the device body so as to cause the device body to ascend vertically;

at least one fin extending from the device body, wherein said at least one fin is configured to generate lift on the device body in response to the device body being caused to ascend and descend vertically;

a rudder integral with the stern of the device body and operative to control yawing motion of the device body;

a deployable weight integral with said device body, wherein said deployable weight is selectably moveable from a first position between the bow and stern of the device body to a second position in which the deployable weight is tethered to but outside of a profile of the device body in a manner which causes center of mass of the device body to move sufficiently aft to cause the device body to move from the horizontal orientation to a vertical orientation when in water; and

an internal control system having positioning system interface and integral with said device body, wherein said internal control system causes the deployable weight to move from the first position to the second position automatically upon determining that the device body has reached a predetermined target geolocation using data from the positioning system interface.

18. The combined autonomous underwater vehicle and buoy device of claim 17, additionally comprising at least one antenna integral with the bow of the device body, wherein said internal control system includes a transceiver electrically connected to said antenna so as to enable the internal control system to communicate electrical signals with a remote electronic device.

19. The combined autonomous underwater vehicle and buoy device of claim 18, wherein when the device body is in water and said deployable weight is in the second position, the at least one antenna extends above the surface of the water.

20. The combined autonomous underwater vehicle and buoy device of claim 17, wherein when the device body is in water and said deployable weight is in the second position, the deployable weight is situated beneath the device body.