Patent ID: 9308977
Filing Date: 2016-04-12
CPC Classification: B63B,B63G

Claim Text:
1. A remotely operated underwater vehicle for carrying cleaning devices for cleaning of surfaces submerged in water, the underwater vehicle comprising a roll axis (x), a pitch axis (y), and a yaw axis (z), wherein all of the axes intersect a center of gravity of the underwater vehicle, the vehicle comprising: a first side, a second side, a thruster, a plurality of trim tanks, a first buoyancy element attached to the first side in a plane parallel to an x-y plane of the vehicle and above the center of gravity, and a second buoyancy element attached to the second side in a plane parallel to an x-y plane of the vehicle and below the center of gravity, wherein at least two of the plurality of trim tanks are arranged on opposite sides of the center of gravity of the vehicle and at least one of the plurality of trim tanks comprises a movable mass and a displacement region into which the movable mass can move, whereby the center of gravity of the vehicle is automatically shifted due to gravity and inertia when the vehicle is accelerating or changes orientation in the water, wherein the first buoyancy element provides more buoyancy than the second buoyancy element, and wherein the center of buoyancy of the vehicle is located above the center of gravity of the vehicle irrespective of the orientation and attitude of the vehicle.