# US 10,766,147 B2 · Reusable buoyancy modules for buoyancy control of underwater vehicles

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- Number: US 10,766,147 B2
- Document ID: US10766147B2
- Status: Granted
- Kind: B2
- Application number: 16/519,905
- Filed: 2019-07-23
- Published: 2019-11-14
- Granted: 2020-09-08
- Earliest claimed: 2016-09-20
- Assignees: Saudi Arabian Oil Company
- Applicants: Saudi Arabian Oil Company
- Inventors: Hassane Trigui; Ali Outa; Sahejad Patel; Fadl Abdellatif
- Web page: https://patentgrep.com/patent/US10766147B2

## CPC

- B08B 3/024: {Cleaning by means of spray elements moving over the surface to be cleaned}
- B08B 9/023: Cleaning the external surfaces {(B08B9/021 takes precedence)}
- B23K 31/125: {Weld quality monitoring}
- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 15/0009: {comprising multi-articulated fingers, e.g. resembling a human hand}
- B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces}
- B63C 11/42: with independent propulsion or direction control
- B63C 11/52: Tools specially adapted for working underwater, not otherwise provided for
- 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)}
- B63G 8/14: Control of attitude or depth (of torpedoes F42B19/00)
- B63G 8/42: Towed underwater vessels
- B63H 19/08: by direct engagement with water-bed or ground
- E21B 41/04: Manipulators for underwater operations, e.g. temporarily connected to well heads
- F16H 19/08: for interconverting rotary motion and oscillating motion
- F16H 35/18: Turning devices for rotatable members, e.g. shafts
- F16L 1/26: Repairing or joining pipes on or under water
- F16L 1/265: {Underwater vehicles moving on the bottom}
- G01B 17/02: for measuring thickness
- G01N 29/04: Analysing solids (using acoustic emission techniques G01N29/14)
- G01N 29/225: {Supports, positioning or alignment in moving situation}
- B62D 57/00: Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track (sledges B62B; motor sledges B62M)
- B63G 8/00: Underwater vessels, e.g. submarines; {Equipment specially adapted therefor}(submarine hulls B63B3/13; diving chambers with mechanical link, e.g. cable, to a base B63C11/34; divers' sleds B63C11/46; torpedoes F42B19/00)
- B63G 2008/002: {unmanned}
- B63G 2008/005: {remotely controlled}
- B63G 2008/008: {Docking stations for unmanned underwater vessels, or the like}
- F16H 1/16: comprising worm and worm-wheel
- F16H 1/222: {with non-parallel axes}
- F16H 37/041: {for conveying rotary motion with constant gear ratio}
- F16H 2019/085: {by using flexible members}
- F16L 55/00: Devices or appurtenances for use in, or in connection with, pipes or pipe systems (F16L1/00 - F16L53/00, F16L57/00, F16L59/00 take precedence; repairing or joining pipes on or under water F16L1/26; cleaning of pipes B08B9/02, e.g. removal of blockages B08B9/027; devices for preventing bursting of water pipes by freezing E03B7/10)
- G01N 2291/0234: Metals, e.g. steel
- G01N 2291/02854: Length, thickness
- G01N 2291/2675: Seam, butt welding
- B08B: CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B63C: LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS (floating nets, floating slipways, or the like for recovering aircraft from the water B63B35/52)
- B63G: OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS (means of attack or defence in general, e.g. turrets F41H)
- B63H: MARINE PROPULSION OR STEERING (propulsion of air-cushion vehicles B60V1/14; specially adapted for submarines, other than nuclear propulsion, B63G; specially adapted for torpedoes F42B19/00)
- E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- F16H: GEARING
- F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q)
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

A buoyancy module for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch has a buoyancy configuration which can be selectively altered. The system includes a module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the module and is extendable and retractable in response to operation of the winch. Extending and retracting the module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the operation of a state controller. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered. A method is also disclosed.

## Claims

### Claim 1

A buoyancy module arrangement for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch, comprising
a buoyancy module configured to be repeatably, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle;
a tether connecting the buoyancy module and the underwater robotic vehicle which is extendable and retractable in response to operation of the winch; and
a state controller operative to control winch to cause a transition of the robotic system between at least two buoyancy conditions including from a first condition to a second condition and back to the first condition;
wherein in the first condition the tether and buoyancy module are in a retracted position and the underwater robotic vehicle has a neutral buoyancy, and in the second condition the tether and buoyancy module are in an extended position and the underwater robotic vehicle has a negative buoyancy,
wherein the buoyancy module is buoyantly engaged in the first condition, and the buoyancy module is buoyantly disengaged with the underwater robot in the second condition, and
wherein the tether being in a slack condition causes the module to be in the state of being buoyantly disengaged with the underwater robot.

### Claim 2

A buoyancy module arrangement for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch, comprising:
a buoyancy module configured to be repeatably, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle;
a tether connected to the buoyancy module and extendable and retractable in response to operation of the winch;
a state controller operative to control winch to cause a transition of the robotic system between at least two buoyancy conditions including from a first condition to a second condition and back to the first condition; and
a surface boat as part of the water environment robotic system and wherein the module is incorporated in the surface boat,
wherein in the first condition the tether and buoyancy module are in a retracted position and the underwater robotic vehicle has a neutral buoyancy, and in the second condition the tether and buoyancy module are in an extended position and the underwater robotic vehicle has a negative buoyancy,
wherein the buoyancy module is buoyantly engaged in the first condition, and the buoyancy module is buoyantly disengaged with the underwater robot in the second condition.

### Claim 3

The buoyancy module arrangement for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch, comprising: a buoyancy module configured to be repeatably, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle;
a tether connected to the buoyancy module and extendable and retractable in response to operation of the winch; and
a state controller operative to control winch to cause a transition of the robotic system between at least two buoyancy conditions including from a first condition to a second condition and back to the first condition;
wherein in the first condition the tether and buoyancy module are in a retracted position and the underwater robotic vehicle has a neutral buoyancy, and in the second condition the tether and buoyancy module are in an extended position and the underwater robotic vehicle has a negative buoyancy,
wherein the buoyancy module is buoyantly engaged in the first condition, and the buoyancy module is buoyantly disengaged with the underwater robot in the second condition, and
wherein the module is a surface boat.

### Claim 4 (depends on 3)

A buoyancy module as in claim 3, wherein the surface boat is configured to perform functions on a surface of the water when the surface boat is in the disengaged condition.

### Claim 5 (depends on 1)

The buoyancy module of claim 1, further comprising a latching mechanism for securely engaging the buoyancy module to the underwater robotic vehicle.

### Claim 6 (depends on 5)

The buoyancy module of claim 5, wherein the latching mechanism comprises a magnet.

### Claim 7 (depends on 1)

The buoyancy module of claim 1, wherein the module includes multiple discrete units.

### Claim 8 (depends on 2)

The buoyancy module of claim 2, further comprising a latching mechanism for securely engaging the buoyancy module to the underwater robotic vehicle.

### Claim 9 (depends on 8)

The buoyancy module of claim 8, wherein the latching mechanism comprises a magnet.

### Claim 10 (depends on 2)

The buoyancy module of claim 2, wherein the module includes multiple discrete units.

### Claim 11 (depends on 3)

The buoyancy module of claim 3, further comprising a latching mechanism for securely engaging the buoyancy module to the underwater robotic vehicle.

### Claim 12 (depends on 11)

The buoyancy module of claim 11, wherein the latching mechanism comprises a magnet.

### Claim 13 (depends on 3)

The buoyancy module of claim 3, wherein the module includes multiple discrete units.