SUBMERSIBLE VEHICLES AND METHODS FOR TRANSITING THE SAME IN A BODY OF LIQUID

• US 20120180712A1
• Filed: 01/31/2012
• Published: 07/19/2012
• Est. Priority Date: 03/26/2008
• Status: Abandoned Application

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Vosburgh, Frederick, Moody, Ryan
• Application Number:
  US13/363,011
• Publication Number:
  US 20120180712A1
• Time in Patent Office: Days
• US Class Current: 114/330
• CPC Class Codes: B63G 2008/002 unmanned
• 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 8/18 by hydrofoils
• 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
• CPC Class Codes: B63G 8/42 Towed underwater vessels
• CPC Class Codes: H01F 7/0252 PM holding devices H01F7/021, H01F7/0215, H01F7/0226 take precedence

Abstract

A submersible vehicle for use in a body of liquid includes a vehicle body, a pair of fins coupled to the vehicle body on-opposed sides thereof, and a dihedral angle control system. The dihedral angle control is system operative to vary a fin dihedral angle of each of the fins.

Claims

1. A submersible vehicle for use in a body of liquid, the submersible vehicle comprising:

a vehicle body;

a pair of fins coupled to the vehicle body on opposed sides thereof; and

a dihedral angle control system operative to vary a fin dihedral angle of each of the fins.

2. The submersible vehicle of claim 1 wherein the submersible vehicle is an underwater glider.

3. The submersible vehicle of claim 1 wherein the fin dihedral angle of each of the fins is upward when the submersible vehicle is descending and downward when the submersible vehicle is ascending.

4. The submersible vehicle of claim 1 wherein the submersible vehicle is a towed vehicle.

5. The submersible vehicle of claim 1 wherein the submersible vehicle includes an active thrust system operative to propel the submersible vehicle through the body of liquid.

6. The submersible vehicle of claim 1 wherein each fin is joined to the body at a respective fin root and pivots about a pivot axis at the fin root to vary the fin dihedral angle of the fin.

7. The submersible vehicle of claim 6 including a pair of opposed stops associated with each fin and configured to limit the range of fin dihedral angles assumable by the fin.

8. The submersible vehicle of claim 1 wherein the dihedral angle control system is operative to passively vary the fin dihedral angle of each of the fins.

9. The submersible vehicle of claim 1 wherein the dihedral angle control system includes a biasing member to change and/or maintain a dihedral angle of at least one of the fins.

10. The submersible vehicle of claim 1 wherein the dihedral angle control system includes at least one magnet or magnetic actuator to induce each of the fins into at least one selected fin dihedral angle.

11. The submersible vehicle of claim 1 wherein the dihedral angle control system is operative to actively vary the fin-dihedral angle of each of the fins

12. The submersible vehicle of claim 11 wherein the dihedral angle control system includes:

at least one force actuator operable to forcibly vary the fin dihedral angles of the fins; and

a force actuator controller to control actuation of the force actuator.

13. The submersible vehicle of claim 1 wherein the fins pivot independently of one another to position the fins at different respective fin dihedral angles from one another.

14. A method of providing transit of a submersible vehicle through a body of liquid, the submersible vehicle including a vehicle body and a pair of fins coupled to the vehicle body on opposed sides thereof, the method comprising:

varying a fin dihedral angle of each of the fins using a dihedral angle control system.

15. The method of claim 14 including:

positioning each fin to have an upward fin dihedral angle when the submersible vehicle is descending; and

positioning each fin to have a downward fin dihedral angle when the submersible vehicle is ascending.

16. The method of claim 14 wherein varying the fin dihedral angle of each of the fins includes actively varying the fin dihedral angle of each of the fins using the dihedral angle control system.

17. The method of claim 16 wherein:

the dihedral angle control system includes;

at least one force actuator operable to forcibly vary the fin dihedral angles of the fins; and

a force actuator controller; and

the method includes controlling actuation of the force actuator using the force actuator controller.

18. The method of claim 14 wherein varying the fin dihedral angle of each of the fins includes pivoting the fins independently of one another to position the fins at different respective fin dihedral angles from one another.

19. The method of claim 18 including raising one of the fins to an upward fin dihedral angle and lowering the other fin to a downward fin dihedral angle to cause or assist turning of the submersible vehicle.