Method and Apparatus for Priming a Dynamic Buoyancy System for a Deep-Sea Mining Vehicle

A buoyancy system for an underwater autonomous vehicle, the buoyancy system comprising:

• one or more spherical pressure vessels each comprising two hemispherical pieces mechanically or adhesively connected together at a seam joint, wherein each of the one or more spherical pressure vessels comprises one or more bulkhead feedthroughs for connecting the one or more spherical pressure vessels to external components, valves, and sensors of the buoyancy system;
• a sea water intake valve connected to at least one of the one or more spherical pressure vessels for introducing sea water into the one or more spherical pressure vessels;
• a primary pump connected to at least one of the one or more spherical pressure vessels, wherein the primary pump is configured to pump sea water from the one or more spherical pressure vessels;
• a pressure sensor connected to at least one of the one or more spherical pressure vessels;
• and
• a level sensor extending through all or a first subgroup of the one or more spherical pressure vessels, the level sensor configured to detect a level of sea water inside the one or more spherical pressure vessels between a first limit and a second limit.