Re-configurable subsea robot

• US 10,450,040 B2
• Filed: 03/03/2017
• Issued: 10/22/2019
• Est. Priority Date: 03/03/2017
• Status: Active Grant

• Current Assignee: Nauticus Robotics Holdings Incorporated
• Original Assignee: Houston Mechatronics, Inc.
• Inventors: Radford, Nicolaus, Yamokoski, John, Tobler, Chad
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Louie, Wae L
• Application Number:
  US15/449,803
• Publication Number:
  US 20180251199A1
• Time in Patent Office: 963 Days
• Field of Search: 701 2, 700245, 114289, 114338, 606 79, 606130
• CPC Class Codes: B25J 11/00 Manipulators not otherwise provided for
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: B63G 2008/004 autonomously operating
• CPC Class Codes: B63G 2008/005 remotely controlled
• 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 8/08 Propulsion schnorkels B63G8/36; nuclear propulsion B63H21/18; submerged exhausting apparatus F01N13/12
• CPC Class Codes: Y02T 90/40 Application of hydrogen technology to transportation, e.g. using fuel cells
• CPC Class Codes: Y10S 901/15 Jointed arm
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A submersible robot includes a re-configurable body transformable between at least a first configuration and a second configuration such that the re-configurable body, in the first configuration, has a hydrodynamic shape configured for efficient travel in a subsea environment, and such that the re-configurable body, in the second configuration, has a shape configured for performing a robotic task in the subsea environment.

Claims

1. A submersible robot comprising:

a re-configurable body transformable between at least a first configuration and a second configuration,

wherein the re-configurable body, in the first configuration, has a hydrodynamic shape configured for travel in a subsea environment,

wherein the re-configurable body, in the second configuration, has a shape configured for hovering and performing a robotic task in the subsea environment, and

wherein the first configuration is more efficient for travel with respect to the second configuration.

2. The submersible robot according to claim 1, wherein in the first configuration the re-configurable body has an elongated shape and is hydrodynamically designed for travel in the subsea environment generally along a longitudinal axis of the elongated shape.

3. The submersible robot according to claim 1, wherein the re-configurable body comprises a head section and a tail section, and wherein in the first configuration a longitudinal axis of the head section and a longitudinal axis of the tail section are coincident.

4. The submersible robot according to claim 3, wherein in the second configuration the longitudinal axis of the head section and the longitudinal axis of the tail section are intersecting.

5. The submersible robot according to claim 4, wherein the re-configurable body is transformable among the first configuration, the second configuration, and a third configuration, wherein in the third configuration an angle of intersection of the longitudinal axis of the head section and the longitudinal axis of the tail section is different from an angle of intersection of the longitudinal axis of the head section and the longitudinal axis of the tail section in the second configuration.

6. The submersible robot according to claim 4, further comprising a joint connecting the head section and the tail section.

7. The submersible robot according to claim 4, further comprising at least one robotic arm, wherein the at least one robotic arm is disposed in a retracted position when the re-configurable body is in the first configuration and is disposed in an extended position when the re-configurable body is in the second configuration.

8. The submersible robot according to claim 7, wherein when the at least one robotic arm is in the retracted position, the at least one robotic arm is housed in a retracted arm enclosure.

9. The submersible robot according to claim 8, further comprising a side thruster disposed within the retracted arm enclosure.

10. The submersible robot according to claim 8, wherein the retracted arm enclosure extends along a portion of both the head section and the tail section.

11. The submersible robot according to claim 10, further comprising a first side thruster disposed within a head section portion of the retracted arm enclosure and a second side thruster disposed within a tail section portion of the retracted arm enclosure.

12. The submersible robot according to claim 7, wherein the at least one robotic arm comprises a first arm joint disposed proximal the re-configurable body, a working mechanism disposed distal the re-configurable body, and a second arm joint disposed between the first arm joint and the working mechanism.

13. The submersible robot according to claim 1, wherein the re-configurable body comprises a head section and a tail section, and wherein in the second configuration a longitudinal axis of the head section and a longitudinal axis of the tail section are intersecting.

14. The submersible robot according to claim 1, further comprising a main thruster configured, when disposed in a first position, to propel the submersible robot generally along a longitudinal axis of the re-configurable body when the re-configurable body is in the first configuration.

15. The submersible robot according to claim 14, further comprising a plurality of deployable thrusters configured for deployment when the re-configurable body is in a configuration other than the first configuration.

16. The submersible robot according to claim 15, wherein the plurality of deployable thrusters are housed in thruster enclosures when the re-configurable body is in the first configuration.

17. The submersible robot according to claim 15, wherein when the re-configurable body is in the configuration other than the first configuration, the main thruster is movable to a second position, and wherein the main thruster and the plurality of deployable thrusters cooperatively provide navigation capability to the submersible robot.

18. The submersible robot according to claim 1, further comprising a plurality of deployable thrusters configured for deployment when the re-configurable body is in a configuration other than the first configuration.

19. The submersible robot according to claim 18, wherein the plurality of deployable thrusters are housed in thruster enclosures when the re-configurable body is in the first configuration.

20. The submersible robot according to claim 1, further comprising a plurality of deployable thrusters configured for deployment when the re-configurable body is the first configuration.

21. The submersible robot according to claim 1, further comprising at least one robotic arm, wherein the at least one robotic arm is disposed in a retracted position when the re-configurable body is in the first configuration and is disposed in an extended position when the re-configurable body is in the second configuration.

22. The submersible robot according to claim 21, wherein when the at least one robotic arm is in the retracted position, the at least one robotic arm is housed in a retracted arm enclosure.

23. The submersible robot according to claim 22, further comprising a side thruster disposed within the retracted arm enclosure.

24. The submersible robot according to claim 21, wherein the at least one robotic arm comprises a first arm joint disposed proximal the re-configurable body, a working mechanism disposed distal the re-configurable body, and a second arm joint disposed between the first arm joint and the working mechanism.

25. The submersible robot according to claim 1, further comprising an internal power source, a control unit configured to execute instructions for control of the submersible robot, a sensor module configured to sense aspects of the subsea environment in a vicinity of the submersible robot, and a transceiver configured to communicate with a communication station outside the submersible robot.

26. A method for operating a submersible robot in subsea environment, wherein the submersible robot comprises a re-configurable body transformable between at least a first configuration and a second configuration, wherein in the first configuration the re-configurable body has a hydrodynamic shape configured for travel in the subsea environment and in the second configuration the re-configurable body has a shape configured for performing a robotic task in the subsea environment, the method comprising:

navigating the submersible robot from a first location to a second location with the re-configurable body in the first configuration;

transforming the submersible robot from the first configuration to the second configuration;

performing a robotic task with the re-configurable body in the second configuration;

transforming the submersible robot from the second configuration to the first configuration; and

navigating the submersible robot from the second location to a third location with the re-configurable body in the first configuration.

27. The method of claim 26, wherein transforming the submersible robot from the first configuration to the second configuration comprises rotating a tail section of the re-configurable body relative to a head section of the re-configurable body.

28. The method of claim 26, wherein transforming the submersible robot from the first configuration to the second configuration comprises moving a robotic arm from a retracted position within a robotic arm enclosure to an extended position.

29. The method of claim 26, wherein transforming the submersible robot from the first configuration to the second configuration comprises deploying a plurality of deployable thrusters.

30. The method of claim 26, wherein performing the robotic task comprises sensing aspects of the subsea environment in a vicinity of the submersible robot.

31. A submersible robot comprising:

a re-configurable body comprising a head section, a tail section, and a joint connecting the head section and the tail section, wherein the re-configurable body is transformable between at least a first configuration and a second configuration,

a main thruster;

a plurality of deployable thrusters;

a robotic arm; and

a control module;

wherein in the first configuration, the head section and the tail section together form an elongated, hydrodynamic shape configured for travel in a subsea environment, the plurality of deployable thrusters are disposed in thruster enclosures, the robotic arm is disposed in a robotic arm enclosure, and propulsion is provided by the main thruster; and

wherein in the second configuration the tail section is pivoted relative to the head section, the plurality of deployable thrusters are deployed, the robotic arm is extended, and propulsion is provided by a combination of the main thruster and the deployable thrusters.