Modular system for submersible vehicle

A modular compartment bulkhead assembly is provided that includes a first external body, a bulkhead, and a second external body. The first external body segment may include a first end portion. The first end portion may be coupled to an external seal body and the external seal body may include a first internal channel. The bulkhead may include an internal seal body. The internal seal body may be configured to be inserted into the first internal channel of the external seal body to form an internal seal between the bulkhead and the first external body segment. The second external body segment may include a second end portion. The second end portion may include a second internal channel, and the external seal body may be configured to be inserted into the second internal channel to form an external seal between the external seal body and the second external body segment.

TECHNICAL FIELD

Example embodiments generally relate to structural containment systems and, in particular, relate to structural systems comprising sealing technologies for modular compartments of submersible vehicles.

BACKGROUND

Submersible undersea vehicles, particularly unmanned vehicles, can reach depths where extreme pressures are applied to the external body of the vehicle. Such pressures can lead to water intrusion into the internal cavities of the vehicles. Because of the likelihood of an external body leak, many vehicles include separate, internal waterproof containers within which electronics and other sensitive components are housed. However, such separate internal containers are employed merely to address the issues with the lack of reliability in conventional solutions for external seals. Additionally, once water intrusion occurs, many conventional systems lack the ability to isolate the leak and prevent intrusion into other internal areas of the vehicle that may house sensitive components.

BRIEF SUMMARY OF SOME EXAMPLES

According to some example embodiments, a modular compartment bulkhead assembly is provided. The modular compartment bulkhead assembly may be a component of a submersible vehicle. The modular compartment bulkhead assembly may comprise a first external body segment, a bulkhead, and a second external body segment. The first external body segment may comprise a first end portion. The first end portion may be coupled to an external seal body, and the external seal body may comprise a first internal channel. The bulkhead may comprise an internal seal body. The internal seal body may be configured to be inserted into the first internal channel of the external seal body to form an internal seal between the bulkhead and the first external body segment. The second external body segment may comprise a second end portion. The second end portion may comprise a second internal channel. The external seal body may be configured to be inserted into the second internal channel to form an external seal between the external seal body and the second external body segment.

According to some example embodiments, another modular compartment bulkhead assembly is provided. The modular compartment bulkhead assembly may comprise a first external body segment, a bulkhead, and a second external body segment. The first external body segment may comprising a first end portion. The first end portion may be coupled to an external seal body, and the external seal body may comprise a first internal channel. The bulkhead may comprise a bulkhead wall disposed within the first internal channel of the external seal body. The second external body segment may comprise a second end portion. The second end portion may comprise a second internal channel, and the external seal body may be configured to be inserted into the second internal channel to form an external seal between the external seal body and the second external body segment.

According to some example embodiments, a method for assembling a modular compartment bulkhead assembly of a submersible vehicle is provided. The method may comprise inserting an internal seal body of a bulkhead into a first internal channel of an external seal body of an end portion of a first external body segment to piston seal the bulkhead to the first external body segment via a first internal seal ring disposed between the internal seal body and the first internal channel. The method may further comprise inserting the external seal body into a second internal channel in a second end portion of a second external body segment to piston seal the first external body segment to the second external body segment via a first external seal ring disposed between the external seal body and the second internal channel.

DETAILED DESCRIPTION

Some example embodiments will now be described more fully with reference to the accompanying drawings, in which some, but not all example embodiments are shown. Indeed, the examples described and pictured herein should not be construed as being limiting as to the scope, applicability, or configuration of the present disclosure. Rather, these example embodiments are provided so that this disclosure will satisfy applicable legal requirements Like reference numerals refer to like elements throughout. The term “or” as used herein is defined as the logical or that is true if either or both are true.

According to some example embodiments, a submersible vehicle and an approach for compartmentalizing and forming external and internal seals for modular compartments of the submersible vehicle is provided. In this regard, the submersible vehicle may be an unmanned underwater vehicle (UUV) or, in some instances, the vehicle may be a manned vehicle. According to some example embodiments, the vehicle may have a modular design that permits modular compartments to be accessed individually and readily interchanged. In this manner, the vehicle may therefore be readily adaptable to support a number of applications that can be performed by the vehicle. For example, the vehicle may be configured with modular compartments for exploration, reconnaissance, and deepwater scientific studies. However, the same vehicle may, for example, later be reconfigured with modular compartments for patrolling sensitive aquatic environments, monitoring for intruders into secure areas based on sensor data (e.g., sonar and camera sensors), and investigating the intruders and other suspicious underwater activities.

According to some example embodiments, the modules of the vehicle may include components that are formed as, for example, additively manufactured, molded, or machined components. According to some example embodiments, the components may be formed as additive polymer fabricated (e.g., 3D printed plastic) components. Tubing components, for example, may be formed to include integrated components described herein or, according to some example embodiments, the tubing may be stock commercial tubing.

Additionally, the components may be coupled to form a number of waterproof modular compartments of the vehicle. The modular compartments may, according to some example embodiments, form the external housing of the vehicle that is directly exposed to the underwater environment, and may also internally house, for example, electronics or other operating components. Such an approach, as further described below, is different from many conventional systems that rely upon separate internal waterproof compartments that are independent of the external vehicle shell. Additionally, the modular compartments may operate to prevent flooding of adjacent compartments when a leak or breach of one of the compartments occurs. In some instances, a modular compartment may purposely permit water to enter the compartment, but water-tight seals may prevent water from entering adjacent compartments. For example, a modular compartment may be configured to permit water to enter the compartment to take water temperature or salinity readings by sensors disposed within a modular compartment. Again, because of the modular approach, compartments adjacent to this flooded compartment may be unaffected due to the waterproof seals between the compartments. Modular compartments not only operate to prevent sensitive equipment from being affected by water in an adjacent compartment, but the modular compartments also assist with maintaining buoyancy of the vehicle. For example, a leak or breach into one or two of the compartments may still not result in sinking the vehicle because other compartments may remain waterproof and may contain sufficient air (or gas) to maintain the buoyancy of the vehicle. According to some example embodiments, in the event of a need to quickly surface the vehicle, for example, due to a collision causing a breach in the external housing, a drop weight may be released by the vehicle to change its buoyancy and quickly cause the vehicle to rise to the surface, despite having an external housing breach.

According to some example embodiments, to create such waterproof modular compartments, one or more modular compartment bulkhead assemblies may be utilized. According to some example embodiments, the modular compartment bulkhead assemblies may operate to seal each modular compartment both internally (i.e., between modules) and externally from the underwater environment. The modules, employing the modular compartment bulkhead assemblies, may allow for modification to the vehicle to increase or decrease the number of modular compartments by creating the major breaks between each modular compartment of the vehicle, while also providing easy access to the internal components when necessary. Such structural flexibility allows for convenient maintenance or replacement of internal components.

The modular compartment bulkhead assemblies may be configured to form an external seal between external body segments associated with respective modular compartments, and an internal seal between modular compartments of the vehicle. In this regard, the modular compartment bulkhead assemblies may comprise the end portions of external body segments that are configured to be sealed to each other via, for example, an external seal body that extends from one of the external body segments and into an internal channel of the other external body segment to form a piston seal between the external body segments. The seal between the external body segments may be formed via one or more (e.g., two) seal rings that are disposed in respective grooves of the external seal body. In this configuration, the external body segments may be secured together, via, for example, a plurality of fasteners. As such, this engagement between the external body segments, as further described below, may form an external seal that operates to prevent intrusion of water into the associated modular compartments from the external underwater environment.

Additionally, the external seal body extending from one external body segment and inserted into an internal channel of another external body segment may comprise another internal channel. An internal seal body of a bulkhead may be inserted into the internal channel of the external seal body to form an internal seal between modular compartments. In other words, the interface between the internal channel of the external seal body and the internal seal body of the bulkhead may form an inter-compartment, internal seal between the modular compartments. To form this internal seal, the internal seal body may include, for example, two seal rings in respective grooves to cause the internal seal body to piston seal with the internal channel of the external seal body. The internal seal formed in this manner may, according to some example embodiments, prevent the intrusion of water between modular compartments in the event of an external seal failure or an external housing breach. According to some example embodiments, the bulkhead may include one or more openings configured to permit, for example, cabling to run between the modular compartments. In this regard, in order to maintain waterproof separation of the modular compartments, a filler substance, such as an epoxy, may be used to seal the openings around the cabling in the bulkhead.

In view of the foregoing,FIG. 1Aillustrates an example submersible vehicle100according to some example embodiments. The submersible vehicle100may be an unmanned underwater vehicle (UUV) according to some example embodiments. The submersible vehicle100may comprise a plurality of modular compartments coupled to each other via respective modular compartment bulkhead assemblies105.

In this regard, according to some example embodiments, the submersible vehicle100may have a generally cylindrical or tubular shape. As such, a central longitudinal axis101may be defined that extends through each of the modular compartments and the modular compartment bulkhead assemblies. The submersible vehicle100may include various systems depending on the application for the submersible vehicle100. According to some example embodiments, the submersible vehicle100may include sensor systems, navigation and propulsion systems, communications systems, processing systems, power systems, or the like.

The example submersible vehicle100may comprise five modular compartments, although any number of modular compartments may be included depending on the application for the submersible vehicle100. The submersible vehicle100may include a first modular compartment110that may house perception sensors including, for example, a forward looking sonar (FLS) sensor. A modular compartment bulkhead assembly105may be disposed between the first modular compartment110and the second modular compartment120. The second modular compartment120may, for example, house electronics and control circuitry for autonomy, routing, communications, and other data processing. Again, the second modular compartment120may be separated from the third modular compartment130by a modular compartment bulkhead assembly105. The third modular compartment130may, for example, house a camera system in a mast of the third modular compartment130. Additionally, the third modular compartment130may also comprise, possibly within the mast, navigation systems and communications systems (e.g., radio frequency communications systems, acoustic communications systems, or the like). The third modular compartment130may also be separated from a fourth modular compartment140by a modular compartment bulkhead assembly105. The fourth modular compartment140may house a power supply (e.g., rechargeable batteries) for providing electric power to the various systems of the submersible vehicle100. The fourth modular compartment140may be separated from the fifth modular compartment150by a modular compartment bulkhead assembly105. The fifth modular compartment150may comprise a propulsion and steering system for controlling the movement of the submersible vehicle100. In this regard, the propulsion and steering system may comprise control surfaces in the form of movable fins154and a propeller (not shown). According to some example embodiments, a tether support156may also extend from the fifth modular compartment150that may be used with a tether cable to assist with recovery of the vehicle100in the event of a propulsion system failure during testing. According to some example embodiments, the tether cable may also support power transfer to and communications with the vehicle100via a remote device (e.g., a surface or land-based device).

Referring now toFIG. 1B, an exploded view of some components of the submersible vehicle100is shown. In this regard, each of the external body segments of the submersible vehicle100are more clearly shown. An external body segment may be a component of a modular compartment that includes an external surface that is directly exposed to the external underwater environment. According to some example embodiments, the external body segments may be tubular in shape and comprise an internal channel or hollow that may support interconnection of the external body segments in association with a modular compartment bulkhead assembly and may house operating components of the submersible vehicle100. In this regard, each modular compartment may be associated with one or more external body segment. As further described below, according to some example embodiments, an end portion of each external body segment may include affixed or integrated features or components of a modular compartment bulkhead assembly as further described below.

The first modular compartment110may comprise, for example, one or more sensors such as a sonar sensor112(e.g., an FLS sensor), environmental sensors (e.g., temperature sensors, pressure sensors, salinity sensors, chemical sensors, light sensors, or the like), or other sensors. The first modular compartment110may also comprise an external body segment114, and an external body segment116. In order to support the operation of some or all of the sensors of the first modular compartment110, the first modular compartment110may be floodable to allow water to enter the compartment and permit the sensors to take measurements. The external body segment114and the external body segment116may be specifically configured to house the sonar sensor112, which may be disposed at a forward end of the submersible vehicle100. The first modular compartment110may be coupled to the second modular compartment120via a modular compartment bulkhead assembly105comprising a bulkhead106. The second modular compartment120may comprise external body segment122, which may, according to some example embodiments, be a transparent tube. The second modular compartment120may be coupled to the third modular compartment130via a modular compartment bulkhead assembly105comprising a bulkhead106.

The third modular compartment130may comprise a external body segment132, a mast134, and an mast cap136. The external body segment132and the mast134may be configured to house a camera system to provide optical image capture by the submersible vehicle100. Additionally, according to some example embodiments, the mast134may house communications systems to support radio frequency and acoustic communications. Further, the mast134may also house, for example, a global positioning system (GPS) device configured to determine a location of the vehicle100. The third modular compartment130may be coupled to the fourth modular compartment140via a modular compartment bulkhead assembly105comprising a bulkhead106. The fourth modular compartment140may comprise external body segment142, which may, according to some example embodiments, also be a transparent tube. The fourth modular compartment140may be coupled to the fifth modular compartment150via a modular compartment bulkhead assembly105comprising a bulkhead106. The fifth modular compartment150may comprise a external body segment152that may be disposed at a rear end of the submersible vehicle100and may be configured to house a propulsion and steering system for the submersible vehicle100.

Having described an example submersible vehicle with modular compartments,FIG. 2illustrates a more detailed view of an example modular compartment bulkhead assembly200, in an exploded view, in association with the longitudinal axis101of the submersible vehicle100. The description ofFIG. 2introduces various example elements of the example modular compartment bulkhead assembly200, which is followed by a description ofFIGS. 3A to 3Fshowing interactions between the various example elements and an example assembly process. The modular compartment bulkhead assembly200may be an example of the modular compartment bulkhead assembly105shown inFIGS. 1A and 1B. The modular compartment bulkhead assembly200may comprise a first end portion202of a first external body segment201, a bulkhead220, and a second end portion241of a second external body segment240.

The first end portion202of the first external body segment201may comprise a number of features that are affixed to, or integrated with, the first external body segment201. In this regard, the first end portion202of the first external body segment201may comprise an external seal body203and a first seating surface206. The first seating surface206may be an annular surface that extends axially relative to the longitudinal axis101. The first seating surface206may be recessed relative to an external wall of the first external body segment201. The first seating surface206may include a plurality of holes207disposed around a circumference of the first seating surface206that may, for example, be threaded for receiving respective fasteners (e.g., screws). Each of the plurality of holes207may have a depth that extends radially relative to the longitudinal axis101.

The external seal body203may be cylindrically shaped and extend from the first seating surface206in an axial direction relative to the longitudinal axis101. Additionally, an outer surface of the external seal body203may be recessed relative to the first seating surface206. The outer surface of the external seal body203may include a first external seal groove208and a second external seal groove209. The first external seal groove208may be configured to receive a first external seal ring210, and the second external seal groove209may be configured to receive a second external seal ring211. The first external seal ring210and the second external seal ring211may be formed of an elastic material (e.g., rubber) such that the first external seal ring210and the second external seal ring211may be compressible to form a seal when compressed between the respective grooves208and209and another surface.

The external seal body203may also comprise a internal channel204. The internal channel204may be cylindrical in shape and have a depth. In this regard, the internal channel204may form an opening into an internal space within the first external body segment201for housing operating components of a submersible vehicle, such as, a propulsion and steering system. The external seal body203may have a thickness and therefore the external seal body203may comprise an edge or rim that forms a bulkhead seating surface205at an end of the external seal body203. The bulkhead seating surface205may therefore extend radially relative to the longitudinal axis101. Further, the bulkhead seating surface205may comprise a plurality of holes228configured to receive respective fasteners where the holes228have a depth that extends in a axial direction relative to the longitudinal axis101.

The modular compartment bulkhead assembly200may also comprise a bulkhead220, which may be the same or similar to the bulkhead106mentioned above. The bulkhead220may comprise an internal seal body221and a flange222that are affixed to each other or integrated together. The internal seal body221may be cylindrical in shape and may extend axially relative to the longitudinal axis101from the flange222. The internal seal body221may be recessed relative to the flange222such that the flange222extends radially away from the internal seal body221at one end of the internal seal body221relative to the longitudinal axis101. The flange222may comprise a plurality of holes228that are formed around an annular surface of the flange222and the holes may have a depth that extends in an axial direction relative to the longitudinal axis101.

The internal seal body221may comprise a bulkhead wall223which, according to some example embodiments, may form a base of a cavity in the internal seal body221. The bulkhead wall223may be formed anywhere along a length of the internal seal body221, such as, for example, on an end of the internal seal body221opposite the flange222. According to some example embodiments, the bulkhead wall223may be formed, for example, such that the bulkhead wall223has an offset shape. The bulkhead wall223may have a flat, planar surface. As further described below, the bulkhead wall223may be a continuous surface (i.e., without holes) or the bulkhead wall223may include holes for permitting cabling or other components to pass through the bulkhead wall223that may be later sealed to maintain the waterproof barrier between the modular compartments.

The outer surface of the internal seal body221may include a first internal seal groove224and a second internal seal groove225. The first internal seal groove224may be configured to receive a first internal seal ring226, and the second internal seal groove225may be configured to receive a second internal seal ring227. The first internal seal ring226and the second internal seal ring227may be formed of an elastic material (e.g., rubber) such that the first internal seal ring226and the second internal seal ring227may be compressible to form a seal when compressed between the respective grooves224and225and another surface.

The modular compartment bulkhead assembly200may also comprise a second end portion241of a second external body segment240. In this regard, the second external body segment240may be a tube-shaped component that may comprise an internal channel242. The internal channel242of the second external body segment240may extend between the ends of the second external body segment240and may be configured to house operational components of a submersible vehicle.

The second end portion241of the second external body segment240may comprise a second seating surface243. The second seating surface243may be disposed within the internal channel242on an inner wall of the internal channel242. According to some example embodiments, the second seating surface243may be recessed relative to the inner wall of the internal channel such that the inner diameter of the second seating surface243is greater than an inner diameter of the inner wall of the second external body segment240. Additionally, the second seating surface243may extend axially relative to the longitudinal axis101. Further, the second seating surface243may comprise a plurality of holes244disposed around the annular surface of the second seating surface243. The holes244may have a depth that extends in a radial direction relative to the longitudinal axis101and may be configured to receive respective fasteners.

Having described the various elements of the modular compartment bulkhead assembly200,FIGS. 3A to 3Fwill now be described which illustrate the interactions between elements of the modular compartment bulkhead assembly200and an example process for assembling the elements of the modular compartment bulkhead assembly200. TheFIGS. 3A to 3Cillustrate step-based configurations of an assembly process for the modular compartment bulkhead assembly ofFIG. 2, including perspective views of the first end portion202of the first external body segment201, the bulkhead220, and the second end portion241of the second external body segment240oriented along the longitudinal axis101transitioning from a dissembled state to an assembled state.

FIG. 3Aillustrates the modular compartment bulkhead assembly200in a disassembled state that would permit an individual access the internal modular compartments of a submersible vehicle100. In this regard, the internal seal body221of the bulkhead220is not yet engaged with the internal channel204of the external seal body203of the first end portion202of the first external body segment201. Additionally, the second end portion241of the second external body segment240is not yet engaged with the external seal body203of the first end portion202of the first external body segment201.

As shown inFIG. 3B, the bulkhead220has been coupled to the external seal body203of the first end portion202of the first external body segment201. In this regard, the internal seal body221, which extends from the flange222, has been inserted into the internal channel204. According to some example embodiments, the outer diameter of the internal seal body221may be slightly less than that the inner diameter of the internal channel204to permit the internal seal body221to be inserted into the internal channel204. However, the first internal seal ring226and the second internal seal ring227may extend radially relative to longitudinal axis101beyond the outer diameter of the internal seal body221. As such, when the internal seal body221is inserted into the internal channel204, the first internal seal ring226and the second internal seal ring227may engage with the inner wall of the internal channel204and be compressed between the respective internal seal grooves224and225and the inner wall of the internal channel204. The compression force on the first internal seal ring226and the second internal seal ring227may form an internal seal in the form of a piston seal between the modular compartment associated with the first external body segment201and the modular compartment associated with the second external body segment240. Further, according to some example embodiments, the two seal rings226and227may be included to form a dual-internal seal to create redundancy and ensure a waterproof seal between modular compartments.

Engagement between the flange222and the bulkhead seating surface205may secure the bulkhead220to the external seal body203. In this regard, the internal seal body221of the bulkhead220is inserted into the internal channel204until the flange222abuts the bulkhead seating surface205and is stopped. To secure the bulkhead220to the external seal body203, the bulkhead220may be inserted into the internal channel204such that the holes228in the flange222align with respective holes212in the bulkhead seating surface205. According to some example embodiments, at least the holes212may be threaded. Fasteners, extending in an axial direction, may be inserted into and through the holes228and into the holes212to secure the flange222to the bulkhead seating surface205and thus the bulkhead220to the external seal body203. According to some example embodiments, some of the holes228may be used for a purpose other than to secure the flange222to the bulkhead seating surface205. For example, some of the holes228(e.g., non-adjacent holes) may be used to secure equipment to the holes228within a modular compartment.

Subsequent to coupling the bulkhead220to the external seal body203, the external seal body203may be inserted into the internal channel242of the second external body segment240to form an external seal, as shown inFIG. 3C. In this regard, the external seal body203, with the bulkhead220installed, may be inserted into the internal channel242. According to some example embodiments, the outer diameter of the flange222may be the same or less than the outer diameter of the external seal body203. Further, the outer diameter of the external seal body203may be slightly less than the diameter of the inner wall of the internal channel242to permit the external seal body203, and the flange222, to be inserted into the internal channel242of the second external body segment240. As such, the external seal body203, with the bulkhead220coupled thereto, may be inserted into the internal channel242. However, the first external seal ring210and the second external seal ring211may extend radially relative to longitudinal axis101beyond the outer diameter of the external seal body203. As such, when the external seal body203is inserted into the internal channel242, the first external seal ring210and the second external seal ring211may engage with the inner wall of the internal channel242and be compressed between the respective external seal grooves208and209and the inner wall of the internal channel242. The compression force on the first external seal ring210and the second external seal ring211may form an external seal in the form of a piston seal between the external underwater environment and the internal channel242of the second external body segment240. Further, according to some example embodiments, the two seal rings210and211may be included to form a dual-external seal to create redundancy and ensure a waterproof seal.

Engagement between the first seating surface206and the second seating surface243may secure the first external body segment201to the second external body segment240. In this regard, the external seal body203is inserted into the internal channel242until a rim of second external body segment240engages with a rim of the first external body segment201after passing over the first seating surface206and further insertion is stopped. In this regard, according to some example embodiments, the external seal body203may be inserted into the internal channel242until a radially extending edge of the first seating surface206abuts a radially recessed edge of the second seating surface243and further insertion is stopped. To secure the first external body segment201to the second external body segment240, the external seal body203may be inserted into the internal channel242such that the holes207in the first seating surface206align with respective holes244in second seating surface243. According to some example embodiments, at least the holes207may be threaded. Fasteners, extending in a radial direction, may be inserted into and through the holes244and into the holes207to secure the first seating surface206and the first external body segment201to the second seating surface243and the second external body segment240. Additionally, according to some example embodiments, the outer diameter of the external surface of the first external body segment201may be the same as the outer diameter of the external surface of the second external body segment240.

Now referring toFIG. 3D, the modular compartment bulkhead assembly200is shown in association with operating components of a submersible vehicle. In this regard, a power system250is shown installed into a modular compartment associated with the second external body segment240. Additionally, the first external body segment201may be a component of the a modular compartment that houses a propulsion and steering system configured to control the operation of the fins253extending from the first external body segment201. Additionally, inFIG. 3D, the axially extending fasteners252can be seen installed to secure the flange222to the bulkhead seating surface205of the external seal body203. Further, the radially extending fasteners251can be seen installed to secure the first seating surface206to the second seating surface243.

FIG. 3Eshows a cross-section view of the assembled modular compartment bulkhead assembly200shown inFIG. 3Ctaken at a plane A-A. As shown inFIG. 3Ethe outer diameter of the flange222of the bulkhead220is slightly less than the inner diameter of the first external body segment201to permit the flange222and the external seal body203to be inserted into the internal channel242of the second external body segment240and also form the external seal described above. Fasteners251and252can also be seen inFIG. 3E.

Fasteners251and252are shown as pan head screws. However, according to some example embodiments, the fasteners251and252may be any type of screw or other fastener that passes into both components to secure the components together. For example, according to some example embodiments, the fasteners251and252may be set screws that have no head. In example embodiments where fasteners251and252are set screws, the set screws may operate to maintain alignment of the components that the set screw are securing (e.g., prevent shifting), but may not provide a compress force when tightened due to the absence of a head.

FIG. 3Fshows a cross-section view of the assembled modular compartment bulkhead assembly200shown inFIG. 3Ctaken at a plane B-B. In this regard, the plane B-B cuts through the modular compartment bulkhead assembly200at a location where the plane intersects with the second external body segment240, the external seal body203, and the internal seal body221. BecauseFIG. 3Fis a cross-section view, longitudinal axis101is defined as perpendicular to the plane B-B and is therefore represented as a dot. As such,FIG. 3Fshows that, when assembled, a plane can be defined where the internal seal body221is concentric with the external seal body203, which is also concentric with the second external body segment240. Accordingly, the second end portion241of the second external body segment240may overlap the external seal body203of the first external body segment201and the external seal body203of the of the first external body segment201may overlap the internal seal body221of the bulkhead220at the plane B-B, which is a plane perpendicular to the longitudinal axis101and intersects with the second end portion241, the external seal body203, and the internal seal body221.

Having described example assembly processes and configurations of the modular compartment bulkhead assembly200,FIGS. 4A to 4Ewill now be described which illustrate detailed views of the example bulkhead220. However, the example embodiment of the bulkhead220shown inFIGS. 4A to 4Eis a variation that includes modular compartment interface holes400as further described below. In this regard,FIG. 4Ashows a perspective front view of the bulkhead220,FIG. 4Bshows a perspective rear view of the bulkhead220,FIG. 4Cshows a front view of the bulkhead220,FIG. 4Dshows a rear view of the bulkhead220, andFIG. 4Eshows a side view of the bulkhead220.

Accordingly, as better shown inFIGS. 4A to 4E, the internal seal body221of the bulkhead220may extend from the flange222and may have an outer diameter is that is less than the outer diameter of the flange222. The internal seal body221may also have a width that facilitates placement of the first internal seal groove225and the second internal seal groove225spaced apart on the outer surface of the internal seal body221. Further, according to some example embodiments, the bulkhead wall223may extend across one end of the internal seal body221that is opposite the end that is coupled to the flange222. In this regard, according to some example embodiments, the bulkhead wall223may be a base of a cavity formed in the internal seal body221.

As mentioned above, the bulkhead wall223of the bulkhead220may include one or more modular compartment interface holes400. The modular compartment interface holes400may be through holes in the bulkhead wall223that permit cabling, hoses, or other connection means to extend between modular compartments through the bulkhead220. To maintain the waterproof integrity of the bulkhead220as a sealed barrier between the modular compartments, a filler substance may be applied around the connection means passing through a modular compartment interface hole400that fills the remainder of the modular compartment interface hole400and forms a sealed surface for the bulkhead wall223. For example, if the connection means is a power cable, the power cable may be fed through the modular compartment interface hole400and an epoxy or other filler substance may be applied in the modular compartment interface hole400to seal the hole400with the power cable passing through the now-filled hole400. As such, because, according to some example embodiments, the interface with the external seal body203is not a threaded interface requiring rotation of the bulkhead220to form the internal seal, such pass-through connection means may be utilized without the risk of twisting the connection means when installing the bulkhead220into the external seal body203. According to some example embodiments, the modular compartment interface holes400may be threaded to facilitate coupling to a threaded connection means.

The flange222, in addition to including the plurality of holes228for securing the bulkhead220to the external seal body203, may also comprise one or more pry notches401. The pry notches401may be cutouts in a rear face of the flange222. When the bulkhead220is coupled to the external seal body203, the pry notches401may be disposed adjacent to the bulkhead seating surface205. As such, with the fasteners252removed from the holes228, the pry notches401may be used to receive a prying device (e.g., a flat-blade screwdriver) that can be used to pry the bulkhead220away from the external seal body203to separate the bulkhead220from the external seal body203.

FIGS. 5A and 5Bwill now be described which illustrate detailed views of first end portion202of the first external body segment201, according to some example embodiments. In this regard,FIG. 5Ashows a side view of the first external body segment201and the first end portion202, andFIG. 5Bshows a front view of the first external body segment201and the first end portion202.

In this regard, referring toFIG. 5A, it can be seen that the first seating surface206, comprising the holes207, is recessed (i.e., has a smaller outer diameter) relative to the external surface of the first external body segment201. Additionally, it can be seen that the outer diameter of the external seal body203is recessed (i.e., has a smaller outer diameter) relative to the outer diameter of the first seating surface206. This difference in outer diameters between the first seating surface206and the external seal body203forms a ledge that corresponds to the internally recessed second seating surface243of the second external body segment240as described above. Additionally, the external seal body203may have a width that facilitates placement of the first external seal groove208and the second external seal groove209spaced apart on the outer surface of the external seal body203.

Referring toFIG. 5B, the first external body segment201is again shown, according to some example embodiments, with details of the internal channel204and the bulkhead seating surface205. In this regard, the external seal body203comprises an inner diameter and an outer diameter and, as a result, a front surface in the form of the bulkhead seating surface205may be defined. As such, the bulkhead seating surface205extends radially from a center point (i.e., the longitudinal axis101) and includes holes212around the bulkhead seating surface205. In addition to receiving the internal seal body221of the bulkhead220, the internal channel204also defines a space to house operating components of a submersible vehicle.

Now referring toFIG. 6, an exploded view of an alternative embodiment of a modular compartment bulkhead assembly600is shown. The modular compartment bulkhead assembly600comprises a bulkhead coupler602that includes aspects of the modular compartment bulkhead assembly200described above. In this regard, bulkhead coupler602may comprise the external seal body203(referred to in this example embodiment as the first external seal body203) and a second external seal body603. The first external seal body203and the second external seal body603may be coupled or integrated into a single unit that may be used as a connector and a seal between a first external body segment640and the second external body segment240. The second external seal body603may be same or similar to the first external seal body203with the exception that the second external seal body603is oriented in an opposite direction along the longitudinal axis101. In this regard, the first external seal body203may be oriented to engage with the second external body segment240on a first side of the bulkhead coupler602on the longitudinal axis101, and the second external seal body603may be oriented to engage with the first external body segment640on a second, opposite, side of the bulkhead coupler602along the longitudinal axis101.

According to some example embodiments, the bulkhead220described above, may be inserted into an internal channel605which may be shared between the first external seal body203and the second external seal body603. As such, the bulkhead220may be secured to, for example, the first external seal body203in the same manner as described above. However, according to some example embodiments, rather than the bulkhead220, the bulkhead of the bulkhead coupler602may comprise a bulkhead wall604that is disposed within the internal channel605. In this regard, the bulkhead wall604may be an integrated component of the bulkhead coupler602, according to some example embodiments.

As described above, the first external seal body203, with the first external seal ring210and possibly the second external seal ring211, may be piston sealed into the internal channel242of the second external body segment240and secured to the second external body segment240. Similarly, the second external seal body603, with a third external seal ring610and possibly the fourth external seal ring611, may be piston sealed into the internal channel642of the first external body segment640and secured to the first external body segment640in the same manner.

The first end portion641of the first external body segment640may comprise a seating surface643. The seating surface643may be disposed within the internal channel642of the first external body segment640on an inner wall of the internal channel642. According to some example embodiments, the seating surface643may be recessed relative to the inner wall of the internal channel642such that the inner diameter of the seating surface643is greater than an inner diameter of the inner wall of the first external body segment640. Additionally, the seating surface643may extend axially relative to the longitudinal axis101. Further, the seating surface643may comprise a plurality of holes644disposed around the annular surface of the seating surface643. The holes644may have a depth that extends in a radial direction relative to the longitudinal axis101and may be configured to receive respective fasteners.

The second external seal body603may be cylindrically shaped and extend from a seating surface606of the bulkhead coupler602in an axial direction relative to the longitudinal axis101. Additionally, an outer surface of the external seal body603may be recessed relative to the seating surface606. The outer surface of the second external seal body603may include a third external seal groove608and a fourth external seal groove609. The third external seal groove608may be configured to receive a third external seal ring610, and the fourth external seal groove609may be configured to receive a fourth external seal ring611. The third external seal ring610and the fourth external seal ring611may be formed of an elastic material (e.g., rubber) such that the third external seal ring610and the fourth external seal ring611may be compressible to form a seal when compressed between the respective grooves608and609and inner wall of the internal channel642.

The second external seal body603may be inserted into the internal channel642of the first external body segment640to form a second external seal and couple the first external body segment640to the first external body segment240in a waterproof fashion. The outer diameter of the external seal body603may be slightly less than the diameter of the inner wall of the internal channel642to permit the external seal body603to be inserted into the internal channel642of the first external body segment640. The third external seal ring610and the fourth external seal ring611may extend radially relative to longitudinal axis101beyond the outer diameter of the external seal body603. As such, when the external seal body603is inserted into the internal channel642, the third external seal ring610and the fourth external seal ring611may engage with the inner wall of the internal channel642and be compressed between the respective external seal grooves608and609and the inner wall of the internal channel642. The compression force on the third external seal ring610and the fourth external seal ring611may form an external seal in the form of a piston seal between the external underwater environment and the internal channel642of the first external body segment640. Further, according to some example embodiments, the two seal rings610and611may be included to form a dual-external seal to create redundancy and ensure a waterproof seal. However, according to some example embodiments, a single seal ring may be used.

Engagement between the seating surface606and the seating surface643may secure the first external body segment640to the second external body segment240. In this regard, the first external seal body203may be inserted into the internal channel242until a rim of second external body segment240engages with a rim of the bulkhead coupler602after passing over the seating surface206and further insertion is stopped. Similarly, the second external seal body603may be inserted into the internal channel642until a rim of first external body segment640engages with a rim of the bulkhead coupler602after passing over the seating surface606and further insertion is stopped. In this regard, according to some example embodiments, the first external seal body203may be inserted into the internal channel242until a radially extending edge of the seating surface206abuts a radially recessed edge of the second seating surface243and further insertion is stopped. Similarly, according to some example embodiments, the second external seal body603may be inserted into the internal channel642until a radially extending edge of the seating surface606abuts a radially recessed edge of the seating surface643and further insertion is stopped.

Similar to the description above regarding the securing of the external seal body203, to secure the first external body segment640to the bulkhead coupler602, the external seal body603may be inserted into the internal channel642such that the holes607in the seating surface606align with respective holes644in seating surface643. According to some example embodiments, at least the holes607may be threaded. Fasteners, extending in a radial direction (similar to fasteners251ofFIG. 3E), may be inserted into and through the holes644and into the holes607to secure the first seating surface606to the second seating surface643and the first external body segment640. Additionally, according to some example embodiments, the outer diameter of the external surface of the first external body segment640may be the same as the outer diameter of the external surface of the second external body segment240.

As such, with respect to the example embodiment of modular compartment bulkhead assembly600, the assembly600may comprise a first external body segment640comprising a first end portion641. The first end portion641may be coupled to a first external seal body203. The first external seal body203may comprise a first internal channel605. The modular compartment bulkhead assembly600may further comprise a bulkhead (e.g., bulkhead coupler602) comprising a bulkhead wall604disposed within the first internal channel605of the first external seal body203. According to some example embodiments, the modular compartment bulkhead assembly600may further comprise a second external body segment240comprising a second end portion241. The second end portion241may comprise a second internal channel242. The first external seal body203may being configured to be inserted into the second internal channel242to form an external seal between the first external seal body203and the second external body segment240.

According to some example embodiments, the modular compartment bulkhead assembly600may include the first external body segment640comprising a third internal channel642. Additionally, the modular compartment bulkhead assembly600may comprise a second external seal body603. The second external seal body603may extend from and be integrated with the first external seal body203such that the first internal channel605extends within the first external seal body203and the second external seal body603. The second external seal body603may be configured to be inserted into the third internal channel642to form a second external seal between the second external seal body240and the first external body segment640.

Based on the foregoing and in view of the assembly operations described above, example methods for assembling a modular compartment bulkhead assembly of a submersible vehicle are provided. In this regard, according to some example embodiments, an example method is provided as illustrated by the flow chart ofFIG. 7.

The example method may comprise, at700, inserting an internal seal body of a bulkhead into a first internal channel of an external seal body of an end portion of a first external body segment to piston seal the bulkhead to the first external body segment via a first internal seal ring (and, in some example embodiments, a second internal seal ring) disposed between the internal seal body and the first internal channel. Additionally, the example method may comprise, at710, securing a flange of the bulkhead to a bulkhead seating surface disposed on a rim of the external seal body. In this regard, the internal seal body of the bulkhead may extend from the flange. Additionally, according to some example embodiments, the example method may comprise, at720, inserting the external seal body into a second internal channel in a second end portion of a second external body segment to piston seal the first external body segment to the second external body segment via a first external seal ring, (and, in some example embodiments, a second external seal ring) disposed between the external seal body and the second internal channel. Further, the example method may also comprise, at730, securing a first seating surface of the first external body segment to a second seating surface of the second external body segment. In this regard, the external seal body may extend from the first seating surface.

The example method ofFIG. 7may also be modified in view of the description of the assembly process described above with respect toFIGS. 3A to 3C. In this regard, for example, the example method may include such additional elements as securing the flange to the bulkhead seating surface via axially extending fasteners and securing the first seating surface to the second seating surface via radially extending fasteners.

In some embodiments of the example methods described above, additional optional operations may be included or the operations described above may be modified or augmented. Each of the additional operations, modification or augmentations may be practiced in combination with the operations above and/or in combination with each other. Thus, some, all or none of the additional operations, modification or augmentations may be utilized in some embodiments.

Additionally, according to some example embodiments, a submersible vehicle comprising a plurality of modular compartments is provided. The submersible vehicle may comprise a first compartment and a second compartment. At least one of the plurality of modular compartments may house a rechargeable battery and another of the modular compartments may house a propulsion system. The submersible vehicle may also comprise a modular compartment bulkhead assembly that forms an interface between the first modular compartment and the second modular compartment.

In this regard, the modular compartment bulkhead assembly may comprise a first external body segment comprising a first end portion. The first end portion may comprise and an external seal body and the external seal body may comprise a first internal channel. The modular compartment bulkhead assembly may also comprise a bulkhead comprising an internal seal body. The internal seal body may be configured to be inserted into the first internal channel of the external seal body to form an internal seal between the bulkhead and the first external body segment. The modular compartment bulkhead assembly may also comprise a second external body segment comprising a second end portion. The second end portion may comprise a second internal channel. The external seal body may be configured to be inserted into the second internal channel to form an external seal between the external seal body and the second external body segment.

According to some example embodiments, the first end portion of the first external body segment may further comprise a first seating surface and a bulkhead seating surface. In this regard, the external seal body may extend from the first seating surface and the bulkhead seating surface may be disposed on a rim of the external seal body. Additionally, the second end portion of the second external body segment may further comprise a second seating surface, and, the bulkhead may comprise a flange. The internal seal body may extend from the flange. The first seating surface may be configured to be secured to the second seating surface to secure the first external body segment to the second external body segment, and the flange may be configured to be secured to the bulkhead seating surface to secure the bulkhead to the first external body segment.

Additionally or alternatively, according to some example embodiments, the first external body segment, the second external body segment and the bulkhead may be positioned along a longitudinal axis. The first seating surface and the second seating surface may extend axially relative to the longitudinal axis, and the flange and the bulkhead seating surface may extend radially relative to the longitudinal axis. Additionally or alternatively, according to some example embodiments, the first seating surface may be secured to the second seating surface by a plurality of first fasteners. In this regard, each of the first fasteners may extend into the first seating surface and through the second seating surface in a radial direction relative to the longitudinal axis. The flange may be secured to the bulkhead seating surface by a plurality of second fasteners. In this regard, each of the second fasteners may extend through the flange and into the bulkhead seating surface in an axial direction relative to the longitudinal axis. Additionally or alternatively, according to some example embodiments, the second seating surface may be disposed within a recess in an inner surface of the second end portion, and the first seating surface may be recessed relative to an external surface of the first external body segment.

Additionally or alternatively, according to some example embodiments, an outer diameter of the external surface of the first external body segment may be equal to an outer diameter of an external surface of the second external body segment. Additionally or alternatively, according to some example embodiments, the external seal body may comprise a first external seal groove and a second external seal groove. A first external seal ring may be disposed in the first external seal groove and a second external seal ring may be disposed in the second external seal groove. The first external seal ring and the second external seal ring may piston seal against an inner wall of the second internal channel. Additionally or alternatively, according to some example embodiments, the internal seal body may comprise a first internal seal groove and a second internal seal groove, and a first internal seal ring may be disposed in the first internal seal groove and a second internal seal ring may be disposed in the second internal seal groove. The first internal seal ring and the second internal seal ring may piston seal against an inner wall of the second internal channel. Additionally or alternatively, the first external body segment, the second external body segment, and the bulkhead are positioned along a longitudinal axis, and the second end portion of the second external body segment may overlap the external seal body of the first external body segment and the external seal body of the of the first external body segment may overlap the internal seal body of the bulkhead such that a plane perpendicular to the longitudinal axis is defined that intersects with the second end portion, the external seal body, and the internal seal body.

The embodiments presented herein are provided as examples and therefore the disclosure is not to be limited to the specific embodiments disclosed. Modifications and other embodiments are intended to be included within the scope of the appended claims. Moreover, although the foregoing descriptions and the associated drawings describe example embodiments in the context of certain example combinations of elements and/or functions, different combinations of elements and/or functions may be used to form alternative embodiments. In this regard, for example, different combinations of elements and/or functions other than those explicitly described above are also contemplated. In cases where advantages, benefits or solutions to problems are described herein, it should be appreciated that such advantages, benefits and/or solutions may be applicable to some example embodiments, but not necessarily all example embodiments. Thus, any advantages, benefits or solutions described herein should not be thought of as being critical, required or essential to all embodiments.