Patent Description:
One primary use and objective of any subsurface vehicle (SV) is to provide divers a mode of transportation with increased range of underwater travel. A SV increases underwater range in two ways - by traveling at greater speeds than finning (swimming) and by reducing consumption of breathing gas as a result of decreased diver physical effort. A typical SV transports a single combat diver or team of divers to a mission location and remains on station until time to return to base. Current SV market offerings require a team (pilot and co-pilot) to navigate, can be cumbersome to maneuver, and have little or no capability for operational expansion or mission-specific customization.

<CIT> discloses an underwater propulsion unit (<NUM>) for a diver (<NUM>), comprising a substantially long body (<NUM>) containing at least one motor module (<NUM>) and one battery module (<NUM>) driving at least one tractor propeller (<NUM>) arranged downstream of the body (<NUM>), the propulsion unit comprising two counter-rotating propellers and a coupling assembly (<NUM>, <NUM>, <NUM>, <NUM>) arranged upstream, on the opposite end of the long body to the propellers.

<CIT> describes systems and associated methods for planning and control of a fleet of unmanned vehicles in missions that are coordinated temporally and spatially by geo-location, direction, vehicle orientation, altitude above sea level, and depth below sea level. The unmanned vehicles' transit routes may be fully autonomous, semi-autonomous, or under direct operator control using off board control systems. Means are provided for intervention and transit changes during mission execution. Means are provided to collect, centralize and analyze mission data collected on the set of participating unmanned vehicles.

<CIT> relates to a vehicle composed of several components by releasably connected together by connectors (<NUM>-<NUM>) and one or more components are provided with at least one lifting device. At least one component has a view surface (<NUM>) for underwater goggles. One or more watertight component parts are connected to the immersible vessel by releasable connecting parts. For each of these component parts at least one further functional part with the same drive and driven facility is available together with a signaller, wireless and emergency container (<NUM>) with holder grip, and securing device for the releasable connecting components. The immersible vehicle can be assembled by one or more lifting devices on the surface of a calm water area. The vehicle can be converted without auxiliary help from land to water use and vice versa.

Various exemplary embodiments of the present disclosure are described below. Use of the term "exemplary" means illustrative or by way of example only, and any reference herein to "the invention" is not intended to restrict or limit the invention to exact features or steps of any one or more of the exemplary embodiments disclosed in the present specification. References to "exemplary embodiment," "one embodiment," "an embodiment," "various embodiments," and the like, may indicate that the embodiment(s) of the invention so described may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes the particular feature, structure, or characteristic. Further, repeated use of the phrase "in one embodiment," or "in an exemplary embodiment," do not necessarily refer to the same embodiment, although they may.

It is also noted that terms like "preferably", "commonly", and "typically" are not utilized herein to limit the scope of the claimed invention or to imply that certain features are critical, essential, or even important to the structure or function of the claimed invention. Rather, these terms are merely intended to highlight alternative or additional features that may or may not be utilized in a particular embodiment of the present invention.

According to the invention as claimed, the present disclosure comprises a subsurface multi-mission diver transport vehicle includes a vehicle body and at least one propulsion device. The vehicle body incorporates a number of individual mission modules mechanically assembled together to define a substantially continuous hull and deck of the vehicle. The mission modules comprise a plurality of battery modules adapted for supplying electrical current to electrical subsystems of the vehicle. The propulsion device is attached to the vehicle body and capable of propelling the vehicle through a body of water.

The modular design of the exemplary vehicle enable ready and convenient modification to suit requirements for any specific mission. The addition of battery modules allows the vehicle to traverse greater underwater distances and to increase its average speed for extended periods. Modularity allows for the rapid exchange or replacement of modules in the event of a problem. The exemplary vehicle can operate with a minimum of one battery module or with as many as five or more modules - each additional module increasing the structural length and overall capacity of the vehicle. Through its modular design, the exemplary vehicle can incorporate mission-specific, ancillary modules that expand its capability beyond diver deployment. Such ancillary modules can include drone launching (both UUV and AUV), ordinance deployment (both air and sub-surface), "Boat Air" for divers, saving the use of a diver's smaller rig (MODE, CODE, etc.), deployment of surveillance apparatus, and more.

According to another exemplary embodiment, the plurality of mission modules comprises a detachable rear module.

According to another exemplary embodiment, the rear module comprises first and second rear thrusters.

According to another exemplary embodiment, first and second pivoting hyrdofoils adjustably attach respective rear thrusters to the rear module.

According to another exemplary embodiment, the rear module further comprises an integrated servomotor operatively connected to at least one of the first and second rear thrusters.

According to another exemplary embodiment, the plurality of mission modules further comprises a detachable front module.

According to another exemplary embodiment, the front module comprises port and starboard bow thrusters.

According to another exemplary embodiment, first and second pivoting hyrdofoils adjustably attach respective bow thrusters to the front module.

According to another exemplary embodiment, the front module further comprises an integrated servomotor operatively connected to at least one of the first and second bow thrusters.

According to another exemplary embodiment, a drive control system is adapted for controlling the propulsion device.

According to another exemplary embodiment, the drive control system comprises at least one diver-operated joystick.

According to another exemplary embodiment, the battery module comprises flexible conductive battery cables extending from one end of the battery module and complementary battery cable connectors located at an opposite end of the battery module.

According to another exemplary embodiment, the battery module further comprises a distribution manifold and a plurality of individual battery packs electrically connected to the distribution manifold.

According to another exemplary embodiment, the battery module further comprises an undercarriage for holding the plurality of battery packs.

According to another exemplary embodiment, each of the mission modules has a substantially U-shaped exterior hull section and a substantially flat, continuous deck section.

According to another exemplary embodiment, each of the mission modules comprises port and starboard diver handles.

According to another exemplary embodiment, each mission module has a substantially U-shaped end flange adapted for engaging a corresponding U-shaped end flange of an adjacent mission module.

According to another exemplary embodiment, adjacent mission modules comprise respective male and female dovetails cooperating when assembled to form an interlocking joint mechanically connecting the mission modules together.

According to another exemplary embodiment, adjacent mission modules further comprise a spring-loaded extendable locking pin and a complementary pin receptacle cooperating to mechanically connect the mission modules together.

According to another exemplary embodiment, adjacent mission modules further comprise a locking latch and a complementary latch pin cooperating to mechanically connect the mission modules together.

Exemplary embodiments of the present disclosure will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements, and wherein:.

The present invention is described more fully hereinafter with reference to the accompanying drawings, in which one or more exemplary embodiments of the invention are shown. Like numbers used herein refer to like elements throughout. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be operative, enabling, and complete. Accordingly, the particular arrangements disclosed are meant to be illustrative only and not limiting as to the scope of the invention, which is to be given the full breadth of the appended claims.

Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation. Unless otherwise expressly defined herein, such terms are intended to be given their broad ordinary and customary meaning not inconsistent with that applicable in the relevant industry and without restriction to any specific embodiment hereinafter described. As used herein, the article "a" is intended to include one or more items. Where only one item is intended, the term "one", "single", or similar language is used. When used herein to join a list of items, the term "or" denotes at least one of the items, but does not exclude a plurality of items of the list.

Additionally, any references to advantages, benefits, unexpected results, or operability of the present invention are not intended as an affirmation that the invention has been previously reduced to practice or that any testing has been performed. Likewise, unless stated otherwise, use of verbs in the past tense (present perfect or preterit) is not intended to indicate or imply that the invention has been previously reduced to practice or that any testing has been performed.

Referring now specifically to the drawings, a subsurface multi-mission diver transport vehicle (referred to herein as "SMV" or "vehicle") according to one embodiment of the present disclosure is illustrated in <FIG> and <FIG>, and shown generally at broad reference numeral <NUM>. In exemplary embodiments, the present SMV <NUM> comprises a "wet" underwater propulsion vehicle capable of transporting a single diver "D" or a group of divers in tow, thereby minimizing physical exertion and allowing maximum effective usage of diver gear and equipment. As divers are exposed underwater, standard SCUBA gear or Rebreathers may be utilized in combination with the present vehicle. In one embodiment, the SMV <NUM> may be rated for underwater travel at speeds up to <NUM> knots for <NUM> hours. As discussed further below, the exemplary SMV <NUM> features system modularity and scalability which enable mission-specific customization.

As best illustrated in <FIG>, one exemplary configuration the present SMV <NUM> comprises a generally tubular-shaped vehicle body <NUM> incorporating a number of replaceable, detachable and exchangeable mission modules - e.g., front module <NUM>, battery modules <NUM>, <NUM>, and rear module <NUM>. The individual mission modules <NUM>-<NUM> of the SMV <NUM> are mechanically assembled together inline to form a substantially continuous U-shaped exterior hull 11A and a substantially flat continuous deck 11B of the vehicle body <NUM>. The battery modules <NUM>, <NUM> supply electrical current (in parallel) to electrical subsystems of the vehicle. The front and rear modules <NUM>, <NUM> comprise respective pairs of thrusters 18A, 18B and 19A, 19B capable of propelling and maneuvering the SMV <NUM>, as controlled by the diver-operator, remotely or autonomously. Each of the mission modules <NUM>-<NUM> may further comprise port and starboard diver handles <NUM>, and other ergonomic grips, toeholds and features not shown.

Referring to <FIG> and <FIG>, in exemplary embodiments the present SMV <NUM> incorporates multiple inline battery modules <NUM>, <NUM> as indicated above. <FIG> illustrate a single battery module <NUM> - it being understood that battery module <NUM> is identical to module <NUM>. Each battery module <NUM>, <NUM> comprises several individual and electrically isolated lithium-ion battery packs <NUM>, best shown in <FIG> and <FIG>, held in an undercarriage <NUM> (chassis) and electrically wired to a distribution manifold <NUM>. Each battery pack <NUM> may have a nominal rating of <NUM>. 89V and 21Ah (1068Wh), while each battery module <NUM>, <NUM> may have a nominal rating of <NUM>. 89V and 105Ah (5343Wh). In addition, because the individual battery packs <NUM> are isolated, any thermal runaway with a single battery pack will not propagate to the adjacent battery packs. As such, the other battery packs <NUM> in the battery module <NUM>, <NUM> remain safe and effective for continued use.

Flexible sheathed battery cables <NUM> (positive and negative leads) and complementary male and female cable connectors <NUM> are located at opposite ends of each battery module <NUM>, <NUM>. The battery cables <NUM> and connectors <NUM> electrically connect to the distribution manifold <NUM>, and function to transfer electrical current between and among the various interconnected mission modules <NUM>-<NUM> of the SMV <NUM>. The battery cables <NUM> of module <NUM> electrically connect to male and female battery connectors <NUM> of the front module <NUM>, while the flexible cables <NUM> of adjacent battery module <NUM> connect to respective male and female battery connectors <NUM> of module <NUM>.

Referring to <FIG>, each battery module <NUM>, <NUM> has a substantially U-shaped exterior hull section <NUM> with corresponding U-shaped end flanges <NUM>, <NUM> and a substantially flat top deck section <NUM>. The hull sections <NUM>, end flanges <NUM>, <NUM> and deck sections <NUM> of adjacent modules <NUM>, <NUM> align substantially seamlessly when assembled. In this manner, by incorporating virtually any desired number of battery modules <NUM>, <NUM> end-to-end, an overall structural length of the SMV <NUM> and its resulting diver and power capacity can be readily customized for mission-specific applications. In the exemplary embodiment, each battery module <NUM>, <NUM> has multiple points of quick-release interlocking mechanical connection: (a) male and female dovetails 35A, 35B; (b) spring-loaded extension pin and receptacle 36A, 36B (with release <NUM>); and (c) bottom latch and saddle pin 38A, 38B. Sequential assembly of adjacent battery modules is demonstrated in <FIG>. Additional identical battery modules (not shown) may be incorporated into the SMV <NUM> and operatively electrically and mechanically interconnected inline in this same manner.

One advantage of the exemplary SMV <NUM> is an ability to quickly expand the power source (i.e., the "fuel") by attaching additional battery modules <NUM>, <NUM>, as previously described. In theory, an unlimited number of battery modules <NUM>, <NUM> can be combined to allow the vehicle to operate for extended durations. Additionally, the SMV <NUM> may be further customized by incorporating structurally similar modules designed for equipment storage, boat air (e.g., SCUBA, Rebreathers), and other mission-specific requirements, accessories, implements and component upgrades. The overall dimensions of the exemplary SMV <NUM> with one battery module installed are: <NUM> inches wide × <NUM> inches tall × <NUM> inches long. This exemplary configuration will have a dry weight of approximately <NUM> pounds. Each additional battery module adds <NUM> inches in length and <NUM> pounds of dry weight to the SMV. Individual mission modules <NUM>-<NUM> may be integrated with foam for buoyancy compensation, such that the effective weight of the SMV <NUM> is substantially neutral in water.

Referring to <FIG> and <FIG>, the front module <NUM> of the exemplary SMV <NUM> is detachably connected to the battery module <NUM> using mechanical fasteners or other quick-connect/quick-release fittings or couplings. The front module <NUM> has a substantially U-shaped exterior hull section with a corresponding U-shaped rear end flange and a substantially flat top deck section. As best shown in <FIG> and <FIG>, the exemplary front module <NUM> incorporates an internal drive control system <NUM>, manual diver controls (interface) <NUM>, navigator display screen <NUM>, forward-facing sonar <NUM>, the adjustable port and starboard thrusters 18A, 18B, and integrated servomotors 48A, 48B operatively connected to the thrusters 18A, 18B. The diver controls <NUM> may include a main power toggle button <NUM>, a thrust hold toggle button <NUM>, horizontal and vertical thrust joysticks <NUM>, <NUM>, a display curser joystick <NUM>, a display interaction button <NUM>, a display power toggle button <NUM>, an auto depth control toggle button <NUM>, and vehicle lights toggle button <NUM>. All electronics of the exemplary SMV <NUM> may communicate with the drive control system <NUM> either wirelessly (e.g., via RF or IR connections) or through wired connections.

The exemplary drive control system <NUM> is immediately responsive to various manual diver controls <NUM>, and incorporates a drive box controller comprising hardware and software that manages or directs the flow of signals and data between the diver interface controls <NUM>, thrusters 18A, 18B, servomotors 48A, 48B, and positioners and other electronics. The exemplary controller may comprise or incorporate a processor. In certain embodiments, the processor may be implemented by a microcontroller, a digital signal processor, or FPGA (field programmable gate array) for performing various SMV control functions. In its manual-operation mode, the exemplary SMV <NUM> relies on realtime user input to set direction, thrust levels, and prevent obstacle collisions.

In alternative embodiments, the exemplary SMV <NUM> may be equipped with electronic navigation allowing operation in an autonomous mode. The autonomous navigation relies on sonar and Doppler feedback supplied to the navigation system for obstacle detection. The system will see the obstacle and make necessary path adjustments to avoid collision. Pre-loaded maps of the underwater area are loaded in the system and used to chart an original course. A GPS transceiver may also combine with the navigation system to determine initial position as well as confirm critical checkpoints along the course. In its autonomous-operation mode, the exemplary SMV <NUM> may be applicable for autonomous delivery of divers and equipment to a job site, unmanned or manned control, and scientific and educational discovery along with the study of marine biology and geography.

As best shown in <FIG> and <FIG>, the port and starboard thrusters 18A, 18B of the front module <NUM> are adjustably carried by respective pivotably mounted hydrofoils 62A, 62B, and are operatively connected to the drive control system <NUM> and respective integrated servomotors 48A, 48B. Each servomotor 48A, 48B incorporates a built-in DC motor, variable resistor, gears, encoder and other associated control circuitry and electronics. The servomotors 48A, 48B operate on PWM (pulse width modulation) principles to pivot and rotate the thrusters 18A, 18B, as shown in <FIG>, to maintain vehicle pitch and roll, while also providing forward thrust. The exemplary thrusters 18A, 18B may be capable of rotating <NUM> degrees to provide maximum maneuver response as well as aid in station-holding during autonomous use of the SMV <NUM>. Additionally, as demonstrated in <FIG>, the thrusters 18A, 18B may be designed to fold upward from a deployed condition to a stowed condition into the "signature" of the front module <NUM>. Each exemplary thruster 18A, 18B outputs approximately <NUM> pounds of thrust, generating a projected underwater velocity of approximately <NUM> knots at full power for approximately <NUM> hours.

Referring to <FIG>, the rear module <NUM> of the exemplary SMV <NUM> is removably attached to the battery module <NUM> using any suitable hardware or other quick-connect/quick-release fittings or couplings, and has a substantially U-shaped exterior hull section <NUM> with a corresponding U-shaped front end flange <NUM> and a substantially flat top deck section <NUM>. The rear module <NUM> incorporates an integrated servomotor <NUM> communicating with the drive control system <NUM> and operatively connected to the first and second rear thrusters 19A, 19B. As described above, the servomotor <NUM> operates on PWM principles and incorporates a built-in DC motor, variable resistor, gears, encoder and other associated control circuitry and electronics. The thrusters 19A, 19B are adjustably carried on respective pivotable hydrofoils 71A, 71B in a manner such as previously described. <FIG> demonstrate pivoting side-to-side movement of the rear thrusters 19A, 19B, as controlled by the diver, remotely or autonomously. The rear thrusters 19A, 19B cooperate to maintain yaw control and aid in vehicle steering.

For the purposes of describing and defining the present invention it is noted that the use of relative terms, such as "substantially", "generally", "approximately", and the like, are utilized herein to represent an inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. These terms are also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue.

Exemplary embodiments of the present invention are described above. No element, act, or instruction used in this description should be construed as important, necessary, critical, or essential to the invention unless explicitly described as such. Although only a few of the exemplary embodiments have been described in detail herein, those skilled in the art will readily appreciate that many modifications are possible in these exemplary embodiments without materially departing from the novel teachings and advantages of this invention. Accordingly, the scope of this invention is only limited by the appended claims.

Claim 1:
A subsurface diver transport vehicle, comprising:
a vehicle body (<NUM>) comprising a plurality of individual mission modules (<NUM>, <NUM>, <NUM>, <NUM>) mechanically assembled together to define a substantially continuous hull and deck (11A, 11B) of said vehicle (<NUM>), said mission modules (<NUM>, <NUM>, <NUM>, <NUM>) comprising a plurality of adjacent inline battery modules (<NUM>, <NUM>) adapted for supplying electrical current to electrical subsystems of said vehicle (<NUM>), and
at least one propulsion device attached to said vehicle body (<NUM>) and capable of propelling said vehicle (<NUM>) through a body of water,
characterized in that each battery module (<NUM>, <NUM>) comprises a plurality of individual electrically isolated lithium-ion battery packs (<NUM>), and a flexible conductive battery cable (<NUM>) extending from one end of said battery module (<NUM>, <NUM>) and a complementary battery cable connector (<NUM>) located at an opposite end of said battery module (<NUM>, <NUM>), such that upon connecting said battery cable (<NUM>) and cable connector (<NUM>) of adjacent battery modules (<NUM>, <NUM>) electrical current is operatively transferred between and among said battery modules (<NUM>, <NUM>) for distribution to other mission modules (<NUM>, <NUM>, <NUM>, <NUM>) of said vehicle body (<NUM>), wherein said battery module further comprises a distribution manifold (<NUM>), and said battery cable (<NUM>) and cable connector (<NUM>) electrically connect to the distribution manifold (<NUM>).