US 10,589,829 B2 · Gliding robotic fish navigation and propulsion

Abstract

A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur.

Claims24

Dependent claims

A robotic submersible comprising:

a housing including a body and a tail;
a pump and a pump tank adjusting a buoyancy of the housing;
a first linear actuator controlling the pump;
a battery powering a plurality of electronics;
a second linear actuator controlling a position of the battery and adjusting a center of gravity;
a controller controlling the pump and second linear actuator;
the pump, first linear actuator and second linear actuator controlling gliding movements of the housing;
at least one motor coupling the tail with the body, the motor controlling the movements of the tail to create a swimming movement in an operating condition;
a propeller coupled to the housing and being configured to propel the housing in another operating condition;
and
the controller selectively operating the pump, first linear actuator, second linear actuator, and motor to control when the swimming and gliding movements occur.

8 more elements

A robotic submersible comprising:

a housing including a body, and at least one of:
a tail or fin;
a pump operably adjusting a buoyancy of the housing;
a first actuator operably controlling the pump;
a battery;
a second actuator operably adjusting a center of gravity;
a controller operably controlling the pump and second actuator;
the pump, first actuator and second actuator operably controlling gliding movements of the housing;
at least one motor operably controlling the movements of the tail or the fin to create a swimming movement;
and
the controller selectively operating the pump, first actuator, second actuator, and motor to operably control when the swimming and gliding movements occur, the controller using computer software instructions adapted to perform at least one of the following operations:
(a) when a depth of the submersible in water is greater than a predetermined level, an ambient flow disturbance is greater than a predetermined threshold, and a charge state of the battery is above a predetermined state, then a propeller is rotated to move the submersible;
(b) when the depth is greater than the predetermined level, the battery charge state is between medium and high, a desired speed is slower than a speed threshold and a mission is not urgent, then a combination of the swimming and the gliding movements occur to move the submersible;
(c) when the depth is greater than the predetermined level and the ambient flow disturbance is less than the predetermined threshold, then the gliding movement occurs to move the submersible;
(d) when the depth is greater than the predetermined level and the ambient flow disturbance is within a threshold range, then the swimming movement occurs to move the submersible;
or
(e) when the depth is greater that the predetermined level, the battery charge state is below medium, and a desired speed is slower than a predetermined speed and the mission is not urgent, then the controller implements an emergency power management mode.

14 more elements

A robotic submersible comprising:

an elongated housing;
at least one actuator;
at least one swimming fin or tail adapted to move the housing, with a back-and-forth motion in response to energization of the at least one actuator;
a glider adapted to adjust buoyance of the housing in response to energization of the at least one actuator to move the housing in up and down, and forward directions;
a battery located in the housing and being adapted to power the at least one actuator;
a propeller;
and
a controller adapted to automatically control when the glider and swimming fin or tail are energized, the controller also being adapted to cause at least one of the following:
(a) when a depth of the submersible in water is greater than a predetermined level, an ambient flow disturbance is greater than a predetermined threshold, and a charge state of the battery is above a predetermined state, then the propeller is rotated to move the submersible;
(b) when the depth is greater than the predetermined level, the battery charge state is between medium and high, a desired speed is slower than a speed threshold and a mission is not urgent, then a combination of swimming and gliding movements occur to move the submersible;
(c) when the depth is greater than the predetermined level and the ambient flow disturbance is less than the predetermined threshold, then the gliding movement occurs to move the submersible;
(d) when the depth is greater than the predetermined level and the ambient flow disturbance is within a threshold range, then the swimming movement occurs to move the submersible;
or
(e) when the depth is greater that the predetermined level, the battery charge state is below medium, and a desired speed is slower than a predetermined speed and the mission is not urgent, then the controller implements an emergency power management mode.

11 more elements

Dependencies are inferred from the claim text.

Gliding robotic fish navigation and propulsion

Life of this patent

Gliding robotic fish navigation and propulsion

Life of this patent

Abstract

Claims24